Test height query extrapolation

crest/Assets/Crest/Crest-Examples/Shared/Scripts/Collision/HeightTest 1.mat

@@ -0,0 +1,78 @@
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crest/Assets/Crest/Crest-Examples/Shared/Scripts/Collision/HeightTest.mat

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crest/Assets/Crest/Crest-Examples/Shared/Scripts/Collision/OceanSampleHeightDemo.cs

@@ -10,6 +10,9 @@
 /// </summary>
 public class OceanSampleHeightDemo : MonoBehaviour
 {
+    [Tooltip("Some query systems return results with latency. This applies a correction to compensate.")]
+    public bool _compensateLatency = true;
+
     SampleHeightHelper _sampleHeightHelper = new SampleHeightHelper();
 
     void Update()
@@ -18,7 +21,10 @@ void Update()
         var r = transform.lossyScale.magnitude;
         _sampleHeightHelper.Init(transform.position, 2f * r);
 
-        if (_sampleHeightHelper.Sample(out var height))
+        float height;
+        bool result = _compensateLatency ? _sampleHeightHelper.SampleWithLantencyCompensation(out height) : _sampleHeightHelper.Sample(out height);
+
+        if (result)
         {
             var pos = transform.position;
             pos.y = height;

crest/Assets/Crest/Crest/Scripts/Collision/CollProvider.cs

@@ -45,6 +45,11 @@ public interface ICollProvider
         /// </summary>
         void UpdateQueries();
 
+        /// <summary>
+        /// For query providers where there is one or more frames latency, this will adjust the height to compensate
+        /// </summary>
+        float CompensateLatency(float i_height, float i_velocity, float i_frameTime);
+
         /// <summary>
         /// On destroy, to cleanup resources
         /// </summary>

crest/Assets/Crest/Crest/Scripts/Collision/CollProviderNull.cs

@@ -82,6 +82,11 @@ public void CleanUp()
         {
         }
 
+        public float CompensateLatency(float i_height, float i_velocity, float i_frameTime)
+        {
+            return i_height;
+        }
+
         public readonly static CollProviderNull Instance = new CollProviderNull();
     }
 }

crest/Assets/Crest/Crest/Scripts/Collision/QueryBase.cs

@@ -587,6 +587,12 @@ public bool RetrieveSucceeded(int queryStatus)
             return (queryStatus & (int)QueryStatus.RetrieveFailed) == 0;
         }
 
+        public float CompensateLatency(float i_height, float i_velocity, float i_frameTime)
+        {
+            // +1 to account for current frame which has not been sent as a request yet
+            return i_height + (RequestCount + 1f) * i_velocity * i_frameTime;
+        }
+
         public int ResultGuidCount => _resultSegments != null ? _resultSegments.Count : 0;
 
         public int RequestCount => _requests != null ? _requests.Count : 0;

crest/Assets/Crest/Crest/Scripts/Collision/SamplingHelpers.cs

@@ -70,6 +70,33 @@ public bool Sample(out float o_height)
             return true;
         }
 
+        /// <summary>
+        /// Call this to do the query. Can be called only once after Init(). This variant compensates for
+        /// latency in the query system if present.
+        /// </summary>
+        public bool SampleWithLantencyCompensation(out float o_height)
+        {
+            var collProvider = OceanRenderer.Instance?.CollisionProvider;
+            if (collProvider == null)
+            {
+                o_height = 0f;
+                return false;
+            }
+
+            var status = collProvider.Query(GetHashCode(), _minLength, _queryPos, _queryResult, null, _queryResultVel);
+
+            if (!collProvider.RetrieveSucceeded(status))
+            {
+                o_height = OceanRenderer.Instance.SeaLevel;
+                return false;
+            }
+
+            o_height = _queryResult[0].y + OceanRenderer.Instance.SeaLevel;
+            o_height = collProvider.CompensateLatency(o_height, _queryResultVel[0].y, Time.deltaTime);
+
+            return true;
+        }
+
         public bool Sample(out float o_height, out Vector3 o_normal)
         {
             var collProvider = OceanRenderer.Instance?.CollisionProvider;

crest/Assets/Crest/Crest/Scripts/Shapes/ShapeGerstnerBatched.cs

@@ -815,6 +815,11 @@ public void UpdateQueries()
         public void CleanUp()
         {
         }
+
+        public float CompensateLatency(float i_height, float i_velocity, float i_frameTime)
+        {
+            return i_height;
+        }
     }
 
 #if UNITY_EDITOR