public static int linearProgram2(NativeList <Line> lines, float radius, float2 optVelocity, bool directionOpt, ref float2 result)
{
if (directionOpt)
{
/*
* Optimize direction. Note that the optimization velocity is of
* unit length in this case.
*/
result = optVelocity * radius;
}
else if (optVelocity.LengthSquared() > radius.Square())
{
/* Optimize closest point and outside circle. */
result = math.normalize(optVelocity) * radius;
}
else
{
/* Optimize closest point and inside circle. */
result = optVelocity;
}
for (int i = 0; i < lines.Length; ++i)
{
if (lines[i].direction.CrossScalar(lines[i].point - result) > 0.0f)
{
/* Result does not satisfy constraint i. Compute new optimal result. */
float2 tempResult = result;
if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, ref result))
{
result = tempResult;
return(i);
}
}
}
return(lines.Length);
}
