Overview

The procedure for updating the memory given some new sensory input is summarized below.

1. Determine client's own effect on the state. Method depends on the number of visible stationary objects.
   • None. Make a coarse guess based on the client's actions.
   • Two. Triangulate its global position on the field.
   • One. Estimate its effect on the state.
     1. Use the change in the object's position to calculate the actual amount of rotation and translation.
     2. Use the estimation to update the unseen objects in the model.
2. Update unseen mobile objects based on their last observed velocity.