// Token: 0x060004B6 RID: 1206 RVA: 0x00018328 File Offset: 0x00016528
public static UnitVector3 Transform(this AffineTransform3 transformer, UnitVector3 input)
{
return((transformer.AxisX * input.X + transformer.AxisY * input.Y + transformer.AxisZ * input.Z).GetNormalized());
}
// Token: 0x060000D9 RID: 217 RVA: 0x000052B4 File Offset: 0x000034B4
public DistanceLine3Rectangle3(Line3 line, Rectangle3 rectangle)
{
this = default(DistanceLine3Rectangle3);
if (Math.Abs(rectangle.Axis0.Cross(rectangle.Axis1).Dot(line.Direction)) > 1E-08)
{
Vector3 vector = line.Origin - rectangle.Center;
UnitVector3 direction = line.Direction;
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(direction);
double num = affineTransform.AxisX.Dot(rectangle.Axis0);
double num2 = affineTransform.AxisX.Dot(rectangle.Axis1);
double num3 = affineTransform.AxisX.Dot(vector);
double num4 = affineTransform.AxisY.Dot(rectangle.Axis0);
double num5 = affineTransform.AxisY.Dot(rectangle.Axis1);
double num6 = affineTransform.AxisY.Dot(vector);
double num7 = 1.0 / (num * num5 - num2 * num4);
double num8 = (num5 * num3 - num2 * num6) * num7;
double num9 = (num * num6 - num4 * num3) * num7;
if (Math.Abs(num8) <= rectangle.Extent0 && Math.Abs(num9) <= rectangle.Extent1)
{
double num10 = direction.Dot(rectangle.Axis0);
double num11 = direction.Dot(rectangle.Axis1);
double num12 = line.Direction.Dot(vector);
this.LineParameter = num8 * num10 + num9 * num11 - num12;
this.RectCoord0 = num8;
this.RectCoord1 = num9;
this.ClosestPointOnLine = line.Origin + this.LineParameter * line.Direction;
this.ClosestPointOnRectangle = rectangle.Center + num8 * rectangle.Axis0 + num9 * rectangle.Axis1;
this.SquaredDistance = 0.0;
return;
}
}
double num13 = double.MaxValue;
Vector3[] array = new Vector3[]
{
rectangle.Extent0 *rectangle.Axis0,
rectangle.Extent1 *rectangle.Axis1
};
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 2; j++)
{
Vector3 origin = rectangle.Center + (double)(2 * j - 1) * array[i];
UnitVector3 direction2 = (i == 0) ? rectangle.Axis1 : rectangle.Axis0;
double extent = (i == 0) ? rectangle.Extent1 : rectangle.Extent0;
Segment3 segment = new Segment3(origin, direction2, extent);
DistanceLine3Segment3 distanceLine3Segment = new DistanceLine3Segment3(line, segment);
double squaredDistance = distanceLine3Segment.SquaredDistance;
if (squaredDistance < num13)
{
this.ClosestPointOnLine = distanceLine3Segment.ClosestPointOnLine;
this.ClosestPointOnRectangle = distanceLine3Segment.ClosestPointOnSegment;
num13 = squaredDistance;
this.LineParameter = distanceLine3Segment.LineParameter;
double num14 = distanceLine3Segment.SegmentParameter / segment.Extent;
this.RectCoord0 = rectangle.Extent0 * ((double)((1 - i) * (2 * j - 1)) + (double)i * num14);
this.RectCoord1 = rectangle.Extent1 * ((double)((1 - j) * (2 * i - 1)) + (double)j * num14);
}
}
}
this.SquaredDistance = num13;
}
// Token: 0x060001E6 RID: 486 RVA: 0x0000A6EC File Offset: 0x000088EC
public AffineTransform3(UnitVector3 axisX, UnitVector3 axisY, UnitVector3 axisZ)
{
this = new AffineTransform3(axisX, axisY, axisZ, Vector3.Zero);
}
// Token: 0x060001E7 RID: 487 RVA: 0x0000A6FC File Offset: 0x000088FC
public AffineTransform3(UnitVector3 axisX, UnitVector3 axisY)
{
this = new AffineTransform3(axisX, axisY, axisX.UnitCross(axisY));
}
// Token: 0x060000F3 RID: 243 RVA: 0x000058E0 File Offset: 0x00003AE0
public DistanceLine3Triangle3(Line3 line, Triangle3 triangle)
{
this = default(DistanceLine3Triangle3);
Vector3 vector = triangle.V1 - triangle.V0;
Vector3 vector2 = triangle.V2 - triangle.V0;
UnitVector3 unitVector;
if (vector.TryGetUnitCross(vector2, out unitVector) && Math.Abs(unitVector.Dot(line.Direction)) > 1E-08)
{
Vector3 vector3 = line.Origin - triangle.V0;
UnitVector3 direction = line.Direction;
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(direction);
double num = affineTransform.AxisX.Dot(vector);
double num2 = affineTransform.AxisX.Dot(vector2);
double num3 = affineTransform.AxisX.Dot(vector3);
double num4 = affineTransform.AxisY.Dot(vector);
double num5 = affineTransform.AxisY.Dot(vector2);
double num6 = affineTransform.AxisY.Dot(vector3);
double num7 = 1.0 / (num * num5 - num2 * num4);
double num8 = (num5 * num3 - num2 * num6) * num7;
double num9 = (num * num6 - num4 * num3) * num7;
double num10 = 1.0 - num8 - num9;
if (num10 >= 0.0 && num8 >= 0.0 && num9 >= 0.0)
{
double num11 = direction.Dot(vector);
double num12 = direction.Dot(vector2);
double num13 = line.Direction.Dot(vector3);
this.LineParameter = num8 * num11 + num9 * num12 - num13;
this.TriangleBary0 = num10;
this.TriangleBary1 = num8;
this.TriangleBary2 = num9;
this.ClosestPointOnLine = line.Origin + this.LineParameter * line.Direction;
this.ClosestPointOnTriangle = triangle.V0 + num8 * vector + num9 * vector2;
this.SquaredDistance = 0.0;
return;
}
}
Segment3 segment = new Segment3(triangle.V2, triangle.V0);
DistanceLine3Segment3 distanceLine3Segment = new DistanceLine3Segment3(line, segment);
this.ClosestPointOnLine = distanceLine3Segment.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment.SquaredDistance;
this.LineParameter = distanceLine3Segment.LineParameter;
this.TriangleBary2 = 0.5 * (1.0 - distanceLine3Segment.SegmentParameter / segment.Extent);
this.TriangleBary0 = 1.0 - this.TriangleBary2;
this.TriangleBary1 = 0.0;
Segment3 segment2 = new Segment3(triangle.V0, triangle.V1);
DistanceLine3Segment3 distanceLine3Segment2 = new DistanceLine3Segment3(line, segment2);
if (distanceLine3Segment2.SquaredDistance < this.SquaredDistance)
{
this.ClosestPointOnLine = distanceLine3Segment2.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment2.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment2.SquaredDistance;
this.LineParameter = distanceLine3Segment2.LineParameter;
this.TriangleBary0 = 0.5 * (1.0 - distanceLine3Segment2.SegmentParameter / segment2.Extent);
this.TriangleBary1 = 1.0 - this.TriangleBary0;
this.TriangleBary2 = 0.0;
}
Segment3 segment3 = new Segment3(triangle.V1, triangle.V2);
DistanceLine3Segment3 distanceLine3Segment3 = new DistanceLine3Segment3(line, segment3);
if (distanceLine3Segment3.SquaredDistance < this.SquaredDistance)
{
this.ClosestPointOnLine = distanceLine3Segment3.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment3.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment3.SquaredDistance;
this.LineParameter = distanceLine3Segment3.LineParameter;
this.TriangleBary1 = 0.5 * (1.0 - distanceLine3Segment3.SegmentParameter / segment3.Extent);
this.TriangleBary2 = 1.0 - this.TriangleBary1;
this.TriangleBary0 = 0.0;
}
}
// Token: 0x060001E5 RID: 485 RVA: 0x0000A6D6 File Offset: 0x000088D6
public AffineTransform3(UnitVector3 axisX, UnitVector3 axisY, UnitVector3 axisZ, Vector3 origin)
{
this = new AffineTransform3(axisX, axisY, axisZ, origin, 1.0);
}
// Token: 0x06000113 RID: 275 RVA: 0x0000513A File Offset: 0x0000333A
public Line3(Vector3 origin, UnitVector3 direction)
{
this = default(Line3);
this.Origin = origin;
this.Direction = direction;
}
// Token: 0x060001A8 RID: 424 RVA: 0x000099B6 File Offset: 0x00007BB6
public Ray3(Vector3 origin, UnitVector3 direction)
{
this = default(Ray3);
this.Origin = origin;
this.Direction = direction;
}
// Token: 0x06000483 RID: 1155 RVA: 0x00016320 File Offset: 0x00014520
public static AxisAlignedBox3 ComputeAxisAlignedBoundingBox(this Arc3 arc)
{
AxisAlignedBox3 axisAlignedBox = arc.Circle.ComputeAxisAlignedBoundingBox();
double minX = axisAlignedBox.MinX;
double maxX = axisAlignedBox.MaxX;
double minY = axisAlignedBox.MinY;
double maxY = axisAlignedBox.MaxY;
double minZ = axisAlignedBox.MinZ;
double maxZ = axisAlignedBox.MaxZ;
Vector3 startPoint = arc.StartPoint;
Vector3 endPoint = arc.EndPoint;
UnitVector3 unitVector;
if (arc.Circle.Normal.TryGetUnitCross(UnitVector3.UnitX, out unitVector))
{
UnitVector3 vector = unitVector.UnitCross(arc.Circle.Normal);
double num = Math.Acos(arc.Circle.UnitU.Dot(vector));
if (arc.Circle.UnitV.Dot(UnitVector3.UnitX) < 0.0)
{
num = 6.2831853071795862 - num;
}
if (!arc.Contains(Angle.FromRadians(num)))
{
maxX = Math.Max(startPoint.X, endPoint.X);
}
if (!arc.Contains(Angle.FromRadians((num + 3.1415926535897931) % 6.2831853071795862)))
{
minX = Math.Min(startPoint.X, endPoint.X);
}
}
UnitVector3 unitVector2;
if (arc.Circle.Normal.TryGetUnitCross(UnitVector3.UnitY, out unitVector2))
{
UnitVector3 vector2 = unitVector2.UnitCross(arc.Circle.Normal);
double num2 = Math.Acos(arc.Circle.UnitU.Dot(vector2));
if (arc.Circle.UnitV.Dot(UnitVector3.UnitY) < 0.0)
{
num2 = 6.2831853071795862 - num2;
}
if (!arc.Contains(Angle.FromRadians(num2)))
{
maxY = Math.Max(startPoint.Y, endPoint.Y);
}
if (!arc.Contains(Angle.FromRadians((num2 + 3.1415926535897931) % 6.2831853071795862)))
{
minY = Math.Min(startPoint.Y, endPoint.Y);
}
}
UnitVector3 unitVector3;
if (arc.Circle.Normal.TryGetUnitCross(UnitVector3.UnitZ, out unitVector3))
{
UnitVector3 vector3 = unitVector3.UnitCross(arc.Circle.Normal);
double num3 = Math.Acos(arc.Circle.UnitU.Dot(vector3));
if (arc.Circle.UnitV.Dot(UnitVector3.UnitZ) < 0.0)
{
num3 = 6.2831853071795862 - num3;
}
if (!arc.Contains(Angle.FromRadians(num3)))
{
maxZ = Math.Max(startPoint.Z, endPoint.Z);
}
if (!arc.Contains(Angle.FromRadians((num3 + 3.1415926535897931) % 6.2831853071795862)))
{
minZ = Math.Min(startPoint.Z, endPoint.Z);
}
}
return(new AxisAlignedBox3(minX, maxX, minY, maxY, minZ, maxZ));
}
// Token: 0x06000459 RID: 1113 RVA: 0x00013A04 File Offset: 0x00011C04
public bool Test()
{
Vector3[] array = new Vector3[3];
array[0] = this.triangle.V1 - this.triangle.V0;
array[1] = this.triangle.V2 - this.triangle.V0;
Vector3 axis = array[0].Cross(array[1]);
double num = axis.Dot(this.triangle.V0);
double num2 = num;
double num3;
double num4;
IntersectionUtility3.GetProjection(axis, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
UnitVector3 unitVector = this.box.Axis0;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num5 = unitVector.Dot(this.box.Center);
num3 = num5 - this.box.Extent0;
num4 = num5 + this.box.Extent0;
if (num4 < num || num2 < num3)
{
return(false);
}
unitVector = this.box.Axis1;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num6 = unitVector.Dot(this.box.Center);
num3 = num6 - this.box.Extent1;
num4 = num6 + this.box.Extent1;
if (num4 < num || num2 < num3)
{
return(false);
}
unitVector = this.box.Axis2;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num7 = unitVector.Dot(this.box.Center);
num3 = num7 - this.box.Extent2;
num4 = num7 + this.box.Extent2;
if (num4 < num || num2 < num3)
{
return(false);
}
array[2] = array[1] - array[0];
for (int i = 0; i < 3; i++)
{
Vector3 axis2 = array[i].Cross(this.box.Axis0);
IntersectionUtility3.GetProjection(axis2, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis2, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
Vector3 axis3 = array[i].Cross(this.box.Axis1);
IntersectionUtility3.GetProjection(axis3, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis3, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
Vector3 axis4 = array[i].Cross(this.box.Axis2);
IntersectionUtility3.GetProjection(axis4, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis4, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
}
return(true);
}
// Token: 0x060004DC RID: 1244 RVA: 0x000194CC File Offset: 0x000176CC
internal static void GenerateComplementBasis(out UnitVector3 u, out UnitVector3 v, UnitVector3 w)
{
Vector3 vector = default(Vector3);
Vector3 vector2 = default(Vector3);
if (Math.Abs(w.X) >= Math.Abs(w.Y))
{
double num = 1.0 / Math.Sqrt(w.X * w.X + w.Z * w.Z);
vector.X = -w.Z * num;
vector.Y = 0.0;
vector.Z = w.X * num;
vector2.X = w.Y * vector.Z;
vector2.Y = w.Z * vector.X - w.X * vector.Z;
vector2.Z = -w.Y * vector.X;
}
else
{
double num = 1.0 / Math.Sqrt(w.Y * w.Y + w.Z * w.Z);
vector.X = 0.0;
vector.Y = w.Z * num;
vector.Z = -w.Y * num;
vector2.X = w.Y * vector.Z - w.Z * vector.Y;
vector2.Y = -w.X * vector.Z;
vector2.Z = w.X * vector.Y;
}
u = new UnitVector3(vector.X, vector.Y, vector.Z);
v = new UnitVector3(vector2.X, vector2.Y, vector2.Z);
}