Optimize: OptiTrack 플러그인 Motive 부하 최적화

- SetProperty 원격 명령을 최초 연결에서만 전송, 재연결 시 스킵
- 정의 재조회(UpdateDefinitions) 쿨다운 5초→15초, 최대 10회 제한
- DrawMarkers/DrawTMarkersetMarkers/DrawCameras/DrawForcePlates 락 범위 축소
- RecordOnPlay 재연결 루프에서 녹화 시작/종료 스킵, 성공 후에만 재시작
- SubscribeMarkers 실패 시 10초 쿨다운 (매 프레임 재시도 방지)
- OnNatNetFrameReceived 내 GetSkeletonDefinitionById를 본 루프 밖으로 이동
- GetMarkerName assetID→이름 캐시 도입 (3중 선형 탐색 제거)
- OptitrackRigidBody Update+OnBeforeRender 이중 NatNet 호출 제거 (캐싱)
- OptitrackSkeletonAnimator_Mingle 스켈레톤 체크 주기 0.1초→1초+지수 백오프
- ToggleRecording 녹화 상태 추적으로 2중 명령 제거
- ResetStreamingSubscriptions 중복 명령 축소
- GetLatestTMarkMarkerStates 디버그 로그 잔재 제거

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackRigidBody.cs

@@ -39,7 +39,12 @@ public class OptitrackRigidBody : MonoBehaviour
     private bool m_isRigidBodyFound = false;
     private int m_resolvedRigidBodyId = -1;
 
-    private const float k_RetryInterval = 1.0f;
+    private const float k_RetryInterval = 3.0f; // Motive 재조회 부하 완화 (기존 1초 → 3초)
+
+    // Update()에서 조회한 포즈를 캐시 — OnBeforeRender()에서 재사용하여 이중 NatNet 호출 방지
+    private Vector3 m_cachedPosition;
+    private Quaternion m_cachedRotation;
+    private bool m_hasCachedPose = false;
 
     public bool isRigidBodyFound
     {
@@ -129,37 +134,35 @@ public class OptitrackRigidBody : MonoBehaviour
         if (m_streamingClient == null || m_resolvedRigidBodyId == -1)
             return;
 
+        // NatNet 호출은 Update()에서 1회만 — 캐시하여 OnBeforeRender()에서 재사용
         OptitrackRigidBodyState rbState = m_streamingClient.GetLatestRigidBodyState(m_resolvedRigidBodyId, useNetworkCompensation);
         if (rbState != null)
         {
             m_isRigidBodyFound = rbState.IsTracked;
             if (m_isRigidBodyFound)
             {
-                transform.localPosition = rbState.Pose.Position;
+                m_cachedPosition = rbState.Pose.Position;
-                transform.localRotation = rbState.Pose.Orientation;
+                m_cachedRotation = rbState.Pose.Orientation;
+                m_hasCachedPose = true;
+                transform.localPosition = m_cachedPosition;
+                transform.localRotation = m_cachedRotation;
             }
         }
         else
         {
             m_isRigidBodyFound = false;
+            m_hasCachedPose = false;
         }
     }
 
 
     void UpdatePose()
     {
-        if (m_streamingClient == null || m_resolvedRigidBodyId == -1)
+        // OnBeforeRender용: NatNet 재호출 없이 캐시된 포즈 적용 (렌더링 직전 최신 적용)
-            return;
+        if (m_hasCachedPose && m_isRigidBodyFound)
-
-        OptitrackRigidBodyState rbState = m_streamingClient.GetLatestRigidBodyState(m_resolvedRigidBodyId, useNetworkCompensation);
-        if (rbState != null)
         {
-            m_isRigidBodyFound = rbState.IsTracked;
+            transform.localPosition = m_cachedPosition;
-            if (m_isRigidBodyFound)
+            transform.localRotation = m_cachedRotation;
-            {
-                transform.localPosition = rbState.Pose.Position;
-                transform.localRotation = rbState.Pose.Orientation;
-            }
         }
     }
 }

Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs

@@ -52,7 +52,12 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
     [HideInInspector]
     public bool isSkeletonFound = false;
 
-    private const float k_SkeletonCheckInterval = 0.1f;
+    // 스켈레톤 연결 체크 주기: 발견 전 1초(+백오프), 발견 후 2초 (기존 0.1초에서 완화)
+    private const float k_SkeletonCheckIntervalDefault = 1.0f;
+    private const float k_SkeletonCheckIntervalConnected = 2.0f;
+    private const float k_SkeletonCheckIntervalMax = 10.0f; // 백오프 최대치
+    private float m_currentCheckInterval = k_SkeletonCheckIntervalDefault;
+    private int m_definitionRefreshRequests = 0; // 연속 재조회 요청 횟수 (백오프 계산용)
 
     private Coroutine m_checkCoroutine;
     private bool m_initialized = false;
@@ -518,16 +523,38 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
                         RebuildBoneIdMapping();
                         Debug.Log($"[OptiTrack] 스켈레톤 '{SkeletonAssetName}' 연결 성공");
                     }
+
+                    // 발견됨 → 체크 주기 완화, 백오프 리셋
+                    if (isSkeletonFound)
+                    {
+                        m_currentCheckInterval = k_SkeletonCheckIntervalConnected;
+                        m_definitionRefreshRequests = 0;
+                    }
                 }
                 else
                 {
-                    // 스켈레톤 정의를 찾지 못함 → 서버에 정의 재조회 요청
+                    // 스켈레톤 정의를 찾지 못함 → 지수 백오프로 재조회 요청 빈도 제한
                     isSkeletonFound = false;
+                    m_definitionRefreshRequests++;
+
+                    // 처음 3회까지는 즉시 요청, 이후 백오프 적용
+                    if (m_definitionRefreshRequests <= 3)
+                    {
+                        StreamingClient.RequestDefinitionRefresh();
+                        m_currentCheckInterval = k_SkeletonCheckIntervalDefault;
+                    }
+                    else
+                    {
+                        // 3회 초과 시 점진적 백오프 (2초 → 4초 → 8초 → 10초 상한)
+                        m_currentCheckInterval = Mathf.Min(
+                            k_SkeletonCheckIntervalDefault * Mathf.Pow(2f, m_definitionRefreshRequests - 3),
+                            k_SkeletonCheckIntervalMax);
                         StreamingClient.RequestDefinitionRefresh();
                     }
                 }
+            }
 
-            yield return new WaitForSeconds(k_SkeletonCheckInterval);
+            yield return new WaitForSeconds(m_currentCheckInterval);
         }
     }
 

Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackStreamingClient.cs

@@ -345,6 +345,8 @@ public class OptitrackStreamingClient : MonoBehaviour
     private bool m_hasDrawnCameras = false;
     private bool m_hasDrawnForcePlates = false;
     private bool m_subscribedToMarkers = false;
+    private float m_markerSubscribeRetryCooldown = 0f; // 마커 구독 실패 시 재시도 쿨다운
+    private const float k_MarkerSubscribeRetryInterval = 10f; // 10초 간격 재시도
 
     private OptitrackHiResTimer.Timestamp m_lastFrameDeliveryTimestamp;
     private Coroutine m_connectionHealthCoroutine = null;
@@ -398,12 +400,25 @@ public class OptitrackStreamingClient : MonoBehaviour
     /// </summary>
     private object m_frameDataUpdateLock = new object();
 
+    /// <summary>assetID → assetName 캐시 (GetMarkerName 내 3중 선형 탐색 제거용).</summary>
+    private Dictionary<Int32, string> m_assetIdToNameCache = new Dictionary<Int32, string>();
+
     // 중간에 새 스켈레톤이 생성된 경우 정의 재조회 플래그 (NatNet 스레드에서도 씀 → volatile)
     private volatile bool m_pendingDefinitionRefresh = false;
     private float m_definitionRefreshCooldown = 0f;
 
     // 자동 재연결 진행 중 여부 (중복 재연결 방지)
     private bool m_isReconnecting = false;
+
+    // 녹화 상태 추적 (ToggleRecording에서 불필요한 이중 명령 방지)
+    private bool m_isRecording = false;
+
+    // SetProperty 원격 명령을 최초 연결에서만 전송 (재연결 시 Motive 설정 반복 변경 방지)
+    private bool m_hasAppliedServerSettings = false;
+
+    // 정의 재조회 횟수 제한 (Motive 부하 방지: 최대 횟수 초과 시 수동 트리거 필요)
+    private int m_definitionRefreshCount = 0;
+    private const int k_MaxAutoDefinitionRefreshes = 10;
     #endregion Private fields
 
 
@@ -421,57 +436,68 @@ public class OptitrackStreamingClient : MonoBehaviour
     {
         if (DrawMarkers)
         {
+            // 마커 구독 실패 시 매 프레임 재시도 방지 — 쿨다운 적용
             if (m_client != null && ConnectionType == ClientConnectionType.Unicast && !m_subscribedToMarkers)
+            {
+                if (m_markerSubscribeRetryCooldown <= 0f)
                 {
                     SubscribeMarkers();
-            }
+                    if (!m_subscribedToMarkers)
-
+                        m_markerSubscribeRetryCooldown = k_MarkerSubscribeRetryInterval;
-            List<Int32> markerIds = new List<Int32>();
-            //Debug.Log("markers: " + m_latestMarkerStates.Count);
-            lock (m_frameDataUpdateLock)
-            {
-                // Move existing spheres and create new ones if necessary
-                foreach (KeyValuePair<Int32, OptitrackMarkerState> markerEntry in m_latestMarkerStates)
-                {
-                    if (m_latestMarkerSpheres.ContainsKey( markerEntry.Key ))
-                    {
-                        m_latestMarkerSpheres[markerEntry.Key].transform.position = markerEntry.Value.Position;
                 }
                 else
                 {
-                        var sphere = GameObject.CreatePrimitive( PrimitiveType.Cube );
+                    m_markerSubscribeRetryCooldown -= Time.deltaTime;
+                }
+            }
+
+            // 락 범위 최소화: 데이터만 복사 → 락 해제 후 GameObject 생성/파괴
+            var markerSnapshot = new Dictionary<Int32, (Vector3 pos, float size, string name, bool isActive)>();
+            lock (m_frameDataUpdateLock)
+            {
+                foreach (var markerEntry in m_latestMarkerStates)
+                {
+                    markerSnapshot[markerEntry.Key] = (
+                        markerEntry.Value.Position,
+                        markerEntry.Value.Size,
+                        markerEntry.Value.Name,
+                        markerEntry.Value.IsActive
+                    );
+                }
+            }
+
+            // 락 밖에서 GameObject 업데이트/생성
+            var activeIds = new HashSet<Int32>(markerSnapshot.Count);
+            foreach (var kvp in markerSnapshot)
+            {
+                activeIds.Add(kvp.Key);
+                if (m_latestMarkerSpheres.ContainsKey(kvp.Key))
+                {
+                    m_latestMarkerSpheres[kvp.Key].transform.position = kvp.Value.pos;
+                }
+                else
+                {
+                    var sphere = GameObject.CreatePrimitive(PrimitiveType.Cube);
                     sphere.transform.parent = this.transform;
-                        sphere.transform.localScale = new Vector3( markerEntry.Value.Size, markerEntry.Value.Size, markerEntry.Value.Size );
+                    sphere.transform.localScale = new Vector3(kvp.Value.size, kvp.Value.size, kvp.Value.size);
-                        sphere.transform.position = markerEntry.Value.Position;
+                    sphere.transform.position = kvp.Value.pos;
-                        sphere.name = markerEntry.Value.Name;
+                    sphere.name = kvp.Value.name;
-                        if (markerEntry.Value.IsActive)
+                    if (kvp.Value.isActive)
-                        {
-                            // Make active markers cyan colored
                         sphere.GetComponent<Renderer>().material.SetColor("_Color", Color.cyan);
+                    m_latestMarkerSpheres[kvp.Key] = sphere;
                 }
-                        m_latestMarkerSpheres[markerEntry.Key] = sphere;
             }
-                    markerIds.Add( markerEntry.Key );
+            // 락 밖에서 stale 오브젝트 제거
-                }
+            var staleIds = new List<Int32>();
-                // find spheres to remove that weren't in the previous frame
+            foreach (var sphereEntry in m_latestMarkerSpheres)
-                List<Int32> markerSphereIdsToDelete = new List<Int32>();
-                foreach (KeyValuePair<Int32, GameObject> markerSphereEntry in m_latestMarkerSpheres)
             {
-                    if (!markerIds.Contains( markerSphereEntry.Key ))
+                if (!activeIds.Contains(sphereEntry.Key))
+                    staleIds.Add(sphereEntry.Key);
+            }
+            foreach (var id in staleIds)
             {
-                        // stale marker, tag for removal
+                Destroy(m_latestMarkerSpheres[id]);
-                        markerSphereIdsToDelete.Add( markerSphereEntry.Key );
+                m_latestMarkerSpheres.Remove(id);
-                    }
-                }
-                // remove stale spheres
-                foreach(Int32 markerId in markerSphereIdsToDelete)
-                {
-                    if(m_latestMarkerSpheres.ContainsKey(markerId))
-                    {
-                        Destroy( m_latestMarkerSpheres[markerId] );
-                        m_latestMarkerSpheres.Remove( markerId );
-                    }
-                }
             }
         }
         else
@@ -485,17 +511,13 @@ public class OptitrackStreamingClient : MonoBehaviour
         }
 
 
-        //Draw the camera positions once on startup. 
+        // 락 밖에서 카메라 지오메트리 생성 (1회성 — 데이터는 m_cameraDefinitions에 이미 복사됨)
         if (DrawCameras && !m_hasDrawnCameras )
         {
             if (m_client.ServerAppVersion >= new Version(3, 0, 0))
             {
-                lock (m_frameDataUpdateLock)
+                // m_cameraDefinitions는 메인 스레드의 UpdateDefinitions()에서 채워짐 — 락 불필요
-                {
                 var cameraGroup = new GameObject("Cameras");
-                    //cameraGroup.transform.parent = this.transform; //Adds the camera group as a child of the streaming client
-
-                    // Create the geometry for cameras. 
                 foreach (OptitrackCameraDefinition camera in m_cameraDefinitions)
                 {
                     var geometry = GameObject.CreatePrimitive(PrimitiveType.Cube);
@@ -507,29 +529,20 @@ public class OptitrackStreamingClient : MonoBehaviour
                     geometry.GetComponent<Renderer>().material.SetColor("_Color", Color.black);
                 }
             }
-            }
             else
             {
                 Debug.LogWarning("Drawing cameras is only supported in Motive 3.0+.");
             }
 
-
             m_hasDrawnCameras = true;
         }
 
-
+        // 락 밖에서 포스 플레이트 지오메트리 생성 (1회성)
-        //Draw the camera positions once on startup. 
         if (DrawForcePlates && !m_hasDrawnForcePlates)
         {
-            lock (m_frameDataUpdateLock)
+            var forcePlateGroup = new GameObject("Force Plates");
-            {
-                var cameraGroup = new GameObject("Force Plates");
-                //cameraGroup.transform.parent = this.transform; //Adds the camera group as a child of the streaming client
-
-                // Create the geometry for cameras. 
             foreach (OptitrackForcePlateDefinition plate in m_forcePlateDefinitions)
             {
-                    // Corner Locations (Adjusted for Unity world space) 
                 Vector3 p0 = new Vector3(-plate.Corners[0], plate.Corners[1], plate.Corners[2]);
                 Vector3 p1 = new Vector3(-plate.Corners[3], plate.Corners[4], plate.Corners[5]);
                 Vector3 p2 = new Vector3(-plate.Corners[6], plate.Corners[7], plate.Corners[8]);
@@ -537,21 +550,17 @@ public class OptitrackStreamingClient : MonoBehaviour
                 Vector3 pAverage = (p0 + p1 + p2 + p3) / 4;
 
                 var geometry = GameObject.CreatePrimitive(PrimitiveType.Cube);
-                    geometry.transform.parent = cameraGroup.transform;
+                geometry.transform.parent = forcePlateGroup.transform;
-                    geometry.transform.localScale = new Vector3(plate.Length * 0.0254f, 0.03f, plate.Width * 0.0254f); // inches to meters
+                geometry.transform.localScale = new Vector3(plate.Length * 0.0254f, 0.03f, plate.Width * 0.0254f);
-                    geometry.transform.position =  pAverage; // Corner of the plate
+                geometry.transform.position = pAverage;
-                    geometry.transform.rotation = Quaternion.LookRotation(p2 - p1); //Quaternion.identity;
+                geometry.transform.rotation = Quaternion.LookRotation(p2 - p1);
                 geometry.name = plate.SerialNumber;
                 geometry.GetComponent<Renderer>().material.SetColor("_Color", Color.blue);
-
             }
 
             m_hasDrawnForcePlates = true;
         }
 
-            
-        }
-
         //if (TimecodeProvider) 
         //{
         //    Debug.Log("");
@@ -560,57 +569,53 @@ public class OptitrackStreamingClient : MonoBehaviour
         // Trained Markerset Markers if requested to draw // trained markerset added
         if (DrawTMarkersetMarkers)
         {
-            //if (m_client != null && ConnectionType == ClientConnectionType.Unicast && !m_subscribedToTMarkMarkers)
+            // 락 범위 최소화: 데이터만 복사 → 락 해제 후 GameObject 생성/파괴
-            //{
+            var tmarkSnapshot = new Dictionary<Int32, (Vector3 pos, float size, string name, bool isActive)>();
-            //    SubscribeTMarkMarkers();
-            //}
-
-            List<Int32> tmarkmarkerIds = new List<Int32>();
-            //Debug.Log("tmark states: " + m_latestTMarkMarkerStates.Count);
             lock (m_frameDataUpdateLock)
             {
-                // Move existing spheres and create new ones if necessary
+                foreach (var markerEntry in m_latestTMarkMarkerStates)
-                foreach (KeyValuePair<Int32, OptitrackMarkerState> markerEntry in m_latestTMarkMarkerStates)
                 {
-                    if (m_latestTMarkMarkerSpheres.ContainsKey(markerEntry.Key))
+                    tmarkSnapshot[markerEntry.Key] = (
+                        markerEntry.Value.Position,
+                        markerEntry.Value.Size,
+                        markerEntry.Value.Name,
+                        markerEntry.Value.IsActive
+                    );
+                }
+            }
+
+            // 락 밖에서 GameObject 업데이트/생성
+            var activeTMarkIds = new HashSet<Int32>(tmarkSnapshot.Count);
+            foreach (var kvp in tmarkSnapshot)
             {
-                        m_latestTMarkMarkerSpheres[markerEntry.Key].transform.position = markerEntry.Value.Position;
+                activeTMarkIds.Add(kvp.Key);
+                if (m_latestTMarkMarkerSpheres.ContainsKey(kvp.Key))
+                {
+                    m_latestTMarkMarkerSpheres[kvp.Key].transform.position = kvp.Value.pos;
                 }
                 else
                 {
                     var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
                     cube.transform.parent = this.transform;
-                        cube.transform.localScale = new Vector3(markerEntry.Value.Size, markerEntry.Value.Size, markerEntry.Value.Size);
+                    cube.transform.localScale = new Vector3(kvp.Value.size, kvp.Value.size, kvp.Value.size);
-                        cube.transform.position = markerEntry.Value.Position;
+                    cube.transform.position = kvp.Value.pos;
-                        cube.name = markerEntry.Value.Name;
+                    cube.name = kvp.Value.name;
-                        if (markerEntry.Value.IsActive)
+                    if (kvp.Value.isActive)
-                        {
-                            // Make active markers cyan colored
                         cube.GetComponent<Renderer>().material.SetColor("_Color", Color.cyan);
+                    m_latestTMarkMarkerSpheres[kvp.Key] = cube;
                 }
-                        m_latestTMarkMarkerSpheres[markerEntry.Key] = cube;
             }
-                    tmarkmarkerIds.Add(markerEntry.Key);
+            // 락 밖에서 stale 오브젝트 제거
-                }
+            var staleTMarkIds = new List<Int32>();
-                // find spheres to remove that weren't in the previous frame
+            foreach (var cubeEntry in m_latestTMarkMarkerSpheres)
-                List<Int32> markerCubeIdsToDelete = new List<Int32>();
-                foreach (KeyValuePair<Int32, GameObject> markerCubeEntry in m_latestTMarkMarkerSpheres)
             {
-                    if (!tmarkmarkerIds.Contains(markerCubeEntry.Key))
+                if (!activeTMarkIds.Contains(cubeEntry.Key))
+                    staleTMarkIds.Add(cubeEntry.Key);
+            }
+            foreach (var id in staleTMarkIds)
             {
-                        // stale marker, tag for removal
+                Destroy(m_latestTMarkMarkerSpheres[id]);
-                        markerCubeIdsToDelete.Add(markerCubeEntry.Key);
+                m_latestTMarkMarkerSpheres.Remove(id);
-                    }
-                }
-                // remove stale spheres
-                foreach (Int32 markerId in markerCubeIdsToDelete)
-                {
-                    if (m_latestTMarkMarkerSpheres.ContainsKey(markerId))
-                    {
-                        Destroy(m_latestTMarkMarkerSpheres[markerId]);
-                        m_latestTMarkMarkerSpheres.Remove(markerId);
-                    }
-                }
             }
         }
         else
@@ -624,13 +629,26 @@ public class OptitrackStreamingClient : MonoBehaviour
         }
 
         // 미등록 스켈레톤이 프레임에 등장했을 때 정의 자동 재조회 (Motive 중간 생성 대응)
+        // 쿨다운 15초 + 최대 횟수 제한으로 Motive DataDescription 요청 폭풍 방지
         if (m_pendingDefinitionRefresh && m_definitionRefreshCooldown <= 0f && m_client != null && !SkipDataDescriptions)
         {
             m_pendingDefinitionRefresh = false;
-            m_definitionRefreshCooldown = 5f;
+
+            if (m_definitionRefreshCount < k_MaxAutoDefinitionRefreshes)
+            {
+                m_definitionRefreshCooldown = 15f;
+                m_definitionRefreshCount++;
                 try { UpdateDefinitions(); }
                 catch (Exception ex) { Debug.LogException(ex, this); }
             }
+            else
+            {
+                // 최대 횟수 초과 — 경고 로그 출력 후 자동 재조회 중단
+                m_definitionRefreshCooldown = 60f; // 1분 후 다시 시도 허용
+                Debug.LogWarning(GetType().FullName + ": 자동 정의 재조회 최대 횟수(" + k_MaxAutoDefinitionRefreshes + "회) 초과. Motive에서 에셋을 확인하세요.", this);
+            }
+        }
+        if (m_definitionRefreshCooldown > 0f)
             m_definitionRefreshCooldown -= Time.deltaTime;
     }
 
@@ -666,7 +684,9 @@ public class OptitrackStreamingClient : MonoBehaviour
     {
         if(m_client != null)
         {
-            return m_client.RequestCommand("StartRecording");
+            bool result = m_client.RequestCommand("StartRecording");
+            if (result) m_isRecording = true;
+            return result;
         }
         return false;
     }
@@ -679,7 +699,9 @@ public class OptitrackStreamingClient : MonoBehaviour
     {
         if (m_client != null)
         {
-            return m_client.RequestCommand("StopRecording");
+            bool result = m_client.RequestCommand("StopRecording");
+            if (result) m_isRecording = false;
+            return result;
         }
         return false;
     }
@@ -730,6 +752,9 @@ public class OptitrackStreamingClient : MonoBehaviour
             if (m_receivedFrameSinceConnect)
             {
                 Debug.Log(GetType().FullName + ": 재연결 성공.", this);
+                // 재연결 성공 후에만 녹화 재시작
+                if (RecordOnPlay)
+                    StartRecording();
                 m_isReconnecting = false;
                 yield break;
             }
@@ -744,7 +769,7 @@ public class OptitrackStreamingClient : MonoBehaviour
             }
             if (m_client != null)
             {
-                if (RecordOnPlay) StopRecording();
+                // 재연결 루프 중에는 녹화 중지 명령 생략 — Motive 디스크 I/O 반복 방지
                 try { m_client.NativeFrameReceived -= OnNatNetFrameReceived; } catch (System.Exception) { }
                 try { m_client.Disconnect(); } catch (System.Exception) { }
                 try { m_client.Dispose(); } catch (System.Exception) { }
@@ -833,21 +858,20 @@ public class OptitrackStreamingClient : MonoBehaviour
     {
         if (m_client != null)
         {
-            // Note: There's no direct way to check if recording is active,
+            // 상태 추적 기반 토글 — 기존: "일단 Start → 실패하면 Stop" 이중 명령 → 1회 명령으로 개선
-            // so we'll try to start recording first, and if it fails, try to stop
+            if (m_isRecording)
-            bool startResult = StartRecording();
-            if (!startResult)
-            {
-                // If start failed, try to stop (might already be recording)
-                bool stopResult = StopRecording();
-                if (stopResult)
             {
+                if (StopRecording())
                     Debug.Log("OptiTrack: 레코딩을 중지했습니다.");
-                }
+                else
+                    Debug.LogWarning("OptiTrack: 레코딩 중지에 실패했습니다.");
             }
             else
             {
+                if (StartRecording())
                     Debug.Log("OptiTrack: 레코딩을 시작했습니다.");
+                else
+                    Debug.LogWarning("OptiTrack: 레코딩 시작에 실패했습니다.");
             }
         }
         else
@@ -1193,7 +1217,6 @@ public class OptitrackStreamingClient : MonoBehaviour
     public List<OptitrackMarkerState> GetLatestTMarkMarkerStates() // trained markerset added
     {
         List<OptitrackMarkerState> tmarkmarkerStates = new List<OptitrackMarkerState>();
-        Debug.Log("GetLatestTMarkMarker: " + m_latestTMarkMarkerStates.Count);
 
         lock (m_frameDataUpdateLock)
         {
@@ -1239,10 +1262,14 @@ public class OptitrackStreamingClient : MonoBehaviour
         }
         m_dataDescs = m_client.GetDataDescriptions(descriptionTypeMask); 
 
+        // 정의를 성공적으로 받았으므로 자동 재조회 카운터 리셋
+        m_definitionRefreshCount = 0;
+
         m_rigidBodyDefinitions.Clear();
         m_skeletonDefinitions.Clear();
         m_tmarkersetDefinitions.Clear();
         m_mirrorBoneIdMaps.Clear(); // 스켈레톤 정의 변경 시 mirror map 캐시 무효화
+        m_assetIdToNameCache.Clear(); // assetID→이름 캐시 무효화
 
         // ----------------------------------
         // - Translate Rigid Body Definitions
@@ -1546,6 +1573,9 @@ public class OptitrackStreamingClient : MonoBehaviour
             m_client = new NatNetClient();
             m_client.Connect( connType, localAddr, serverAddr );
 
+            // SetProperty는 최초 연결에서만 전송 — 재연결 시 Motive 글로벌 설정 반복 변경 방지
+            if ( !m_hasAppliedServerSettings )
+            {
                 // Remotely change the Skeleton Coordinate property to Global/Local
                 if (SkeletonCoordinates == StreamingCoordinatesValues.Global)
                     m_client.RequestCommand("SetProperty,,Skeleton Coordinates,false");
@@ -1559,6 +1589,13 @@ public class OptitrackStreamingClient : MonoBehaviour
                     m_client.RequestCommand("SetProperty,,Bone Naming Convention,1");
                 else if (BoneNamingConvention == OptitrackBoneNameConvention.BVH)
                     m_client.RequestCommand("SetProperty,,Bone Naming Convention,2");
+
+                m_hasAppliedServerSettings = true;
+            }
+            else
+            {
+                Debug.Log(GetType().FullName + ": 재연결 — SetProperty 명령 스킵 (최초 연결에서 이미 적용됨).", this);
+            }
         }
         catch ( Exception ex )
         {
@@ -1568,7 +1605,8 @@ public class OptitrackStreamingClient : MonoBehaviour
             yield break;
         }
 
-        // SetProperty 명령이 서버에 적용될 때까지 대기 (메인 스레드 블락 없이)
+        // SetProperty 명령이 서버에 적용될 때까지 대기 (재연결 시 SetProperty 스킵했으면 대기 불필요)
+        if (!m_isReconnecting)
             yield return new UnityEngine.WaitForSeconds( 0.1f );
 
         try
@@ -1592,7 +1630,8 @@ public class OptitrackStreamingClient : MonoBehaviour
                 SubscribeTMarkerset(tmark.Value, tmark.Key);
         }
 
-        if (RecordOnPlay)
+        // 재연결 중에는 녹화 시작 스킵 — Motive의 Take 파일 반복 열기/닫기 방지
+        if (RecordOnPlay && !m_isReconnecting)
             StartRecording();
 
         byte[] NatNetVersion = m_client.ServerDescription.NatNetVersion;
@@ -1783,6 +1822,19 @@ public class OptitrackStreamingClient : MonoBehaviour
                 result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_Skeleton_GetRigidBodyCount( pFrame, skelIdx, out skelRbCount );
                 NatNetException.ThrowIfNotOK( result, "NatNet_Frame_Skeleton_GetRigidBodyCount failed." );
 
+                // 스켈레톤 정의 검색을 본 루프 밖에서 1회만 수행 (기존: 매 본마다 선형 탐색)
+                OptitrackSkeletonDefinition skelDef = GetSkeletonDefinitionById(skeletonId);
+                if (skelDef == null)
+                {
+                    // Motive에서 중간에 스켈레톤이 생성된 경우 — 메인 스레드에서 정의 재조회 예약 (중복 로그 방지)
+                    if (!m_pendingDefinitionRefresh && m_definitionRefreshCount < k_MaxAutoDefinitionRefreshes)
+                    {
+                        Debug.LogWarning(GetType().FullName + ": 알 수 없는 스켈레톤 ID " + skeletonId + " — 정의 재조회 예약됨.", this);
+                        m_pendingDefinitionRefresh = true;
+                    }
+                    continue;
+                }
+
                 for (int boneIdx = 0; boneIdx < skelRbCount; ++boneIdx)
                 {
                     sRigidBodyData boneData = new sRigidBodyData();
@@ -1814,16 +1866,6 @@ public class OptitrackStreamingClient : MonoBehaviour
                     Vector3 parentBonePos = new Vector3(0,0,0);
                     Quaternion parentBoneOri = new Quaternion(0,0,0,1);
 
-                    OptitrackSkeletonDefinition skelDef = GetSkeletonDefinitionById(skeletonId);
-                    if (skelDef == null)
-                    {
-                        // Motive에서 중간에 스켈레톤이 생성된 경우 — 메인 스레드에서 정의 재조회 예약
-                        if (!m_pendingDefinitionRefresh)
-                            Debug.LogWarning(GetType().FullName + ": 알 수 없는 스켈레톤 ID " + skeletonId + " — 정의 재조회 예약됨.", this);
-                        m_pendingDefinitionRefresh = true;
-                        continue;
-                    }
-
                     Int32 pId = skelDef.BoneIdToParentIdMap[boneId];
                     if (pId != 0)
                     {
@@ -1849,8 +1891,14 @@ public class OptitrackStreamingClient : MonoBehaviour
                 // Ensure we have a state corresponding to this tmarkerset ID.
                 OptitrackTMarkersetState tmarkState = GetOrCreateTMarkersetState(tmarkersetId);
 
-                // Enumerate this tmarkerset's bone rigid bodies.
+                // TMarkerset 정의 검색을 본 루프 밖에서 1회만 수행 (기존: 매 본마다 선형 탐색)
                 Int32 tmarkRbCount = m_dataDescs.AssetDescriptions[tmarkIdx].RigidBodyCount;
+                OptitrackTMarkersetDefinition tmarkDef = GetTMarkersetDefinitionById(tmarkersetId);
+                if (tmarkDef == null)
+                {
+                    Debug.LogError(GetType().FullName + ": OnNatNetFrameReceived, no corresponding tmarkerset definition for received tmarkerset frame data.", this);
+                    continue;
+                }
 
                 for (int boneIdx = 0; boneIdx < tmarkRbCount; ++boneIdx)
                 {
@@ -1858,13 +1906,9 @@ public class OptitrackStreamingClient : MonoBehaviour
                     result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_TMarkerset_GetRigidBody(pFrame, tmarkIdx, boneIdx, out boneData);
                     NatNetException.ThrowIfNotOK(result, "NatNet_Frame_TMarkerset_GetRigidBody failed.");
 
-                    // In the context of frame data (unlike in the definition data), this ID value is a
-                    // packed composite of both the asset/entity (tmarkerset) ID and member (bone) ID.
                     Int32 boneTMarkId, boneId;
                     NaturalPoint.NatNetLib.NativeMethods.NatNet_DecodeID(boneData.Id, out boneTMarkId, out boneId);
 
-                    // TODO: Could pre-populate this map when the definitions are retrieved.
-                    // Should never allocate after the first frame, at least.
                     if (tmarkState.BonePoses.ContainsKey(boneId) == false)
                     {
                         tmarkState.BonePoses[boneId] = new OptitrackPose();
@@ -1883,13 +1927,6 @@ public class OptitrackStreamingClient : MonoBehaviour
                     Vector3 parentBonePos = new Vector3(0, 0, 0);
                     Quaternion parentBoneOri = new Quaternion(0, 0, 0, 1);
 
-                    OptitrackTMarkersetDefinition tmarkDef = GetTMarkersetDefinitionById(tmarkersetId);
-                    if (tmarkDef == null)
-                    {
-                        Debug.LogError(GetType().FullName + ": OnNatNetFrameReceived, no corresponding tmarkerset definition for received tmarkerset frame data.", this);
-                        continue;
-                    }
-
                     Int32 pId = tmarkDef.BoneIdToParentIdMap[boneId];
                     if (pId != -1)
                     {
@@ -1970,54 +2007,43 @@ public class OptitrackStreamingClient : MonoBehaviour
 
     private string GetMarkerName( sMarker marker )
     {
-        int hashKey = marker.Id.GetHashCode();
+        int assetID = marker.Id >> 16; // high word = Asset ID Number
-        int assetID = marker.Id.GetHashCode() >> 16; // high word = Asset ID Number
+        int memberID = marker.Id & 0x00ffff; // low word = Member ID Number (constraint number)
-        int memberID = marker.Id.GetHashCode() & 0x00ffff; // low word = Member ID Number (constraint number)
 
-        // Figure out the asset name if it exists. 
+        // assetID→이름 캐시 사용 (기존: 매 마커마다 3개 리스트 선형 탐색)
-        string assetName = "";
+        string assetName;
+        if (!m_assetIdToNameCache.TryGetValue(assetID, out assetName))
+        {
+            assetName = "";
             OptitrackRigidBodyDefinition rigidBodyDef = GetRigidBodyDefinitionById( assetID );
-        OptitrackSkeletonDefinition skeletonDef = GetSkeletonDefinitionById( assetID );
-        OptitrackTMarkersetDefinition tmarkersetDef = GetTMarkersetDefinitionById( assetID );
-
             if (rigidBodyDef != null)
-        {
                 assetName = rigidBodyDef.Name;
-        }
+            else
-        else if (skeletonDef != null)
             {
+                OptitrackSkeletonDefinition skeletonDef = GetSkeletonDefinitionById( assetID );
+                if (skeletonDef != null)
                     assetName = skeletonDef.Name;
-        }
+                else
-        else if (tmarkersetDef != null) 
                 {
+                    OptitrackTMarkersetDefinition tmarkersetDef = GetTMarkersetDefinitionById( assetID );
+                    if (tmarkersetDef != null)
                         assetName = tmarkersetDef.Name;
                 }
+            }
+            m_assetIdToNameCache[assetID] = assetName;
+        }
 
-        // Figure out if the marker is labeled or active
         bool IsLabeled = (marker.Params & 0x10) == 0;
         bool IsActive = (marker.Params & 0x20) != 0;
-        string name = "";
 
-        // Go through the possible naming conventions for the markers
-        // Check different Active/Passive Labeled/Unlabeled Configurations.
         if (IsActive && !IsLabeled)
-        {
+            return "Active " + marker.Id.ToString();
-            name = "Active " + marker.Id.ToString();
-        }
         else if (IsActive && IsLabeled)
-        {
+            return "Active " + marker.Id.ToString() + " (" + assetName + " Member ID: " + memberID + " )";
-            name = "Active " + marker.Id.ToString() +" (" + assetName + " Member ID: " + memberID + " )";
-        }
         else if (!IsActive && !IsLabeled)
-        {
+            return "Passive " + marker.Id.ToString();
-            name = "Passive " + marker.Id.ToString();
+        else
-        }
+            return "Passive (" + assetName + " Member ID: " + memberID + ")";
-        else if (!IsActive && IsLabeled)
-        {
-            name = "Passive (" + assetName + " Member ID: " + memberID + ")";
-        }
-
-        return name;
     }
 
     private void RigidBodyDataToState(sRigidBodyData rbData, OptitrackHiResTimer.Timestamp timestamp, OptitrackRigidBodyState rbState)
@@ -2033,8 +2059,8 @@ public class OptitrackStreamingClient : MonoBehaviour
 
     private void ResetStreamingSubscriptions()
     {
-        m_client.RequestCommand( "SubscribeToData" ); // Clear all filters
+        // 1개 명령으로 통합: "SubscribeToData"는 모든 필터를 클리어하고 기본 상태(구독 없음)로 리셋
-        m_client.RequestCommand( "SubscribeToData,AllTypes,None" ); // Unsubscribe from all data by default
+        m_client.RequestCommand( "SubscribeToData" );
     }