CODE EXAMPLE FOR CSHARP

unity predicts rigidbody position in x seconds

Vector3 predictRigidBodyPosInTime(Rigidbody sourceRigidbody, float timeInSec)
{
    //Get current Position
    Vector3 defaultPos = sourceRigidbody.position;

    Debug.Log("Predicting Future Pos from::: x " + defaultPos.x + " y:"
        + defaultPos.y + " z:" + defaultPos.z);

    //Simulate where it will be in x seconds
    while (timeInSec >= Time.fixedDeltaTime)
    {
        timeInSec -= Time.fixedDeltaTime;
        Physics.Simulate(Time.fixedDeltaTime);
    }

    //Get future position
    Vector3 futurePos = sourceRigidbody.position;

    Debug.Log("DONE Predicting Future Pos::: x " + futurePos.x + " y:"
        + futurePos.y + " z:" + futurePos.z);

    //Re-enable Physics AutoSimulation and Reset position
    Physics.autoSimulation = true;
    sourceRigidbody.velocity = Vector3.zero;
    sourceRigidbody.useGravity = false;
    sourceRigidbody.position = defaultPos;

    return futurePos;
}