private static bool MKDSCollisionCheck(KCL k, Vector3 Point)
{
int num1 = (int)((double)Point.X - (double)k.Header.SpatialGridX);
if ((num1 & k.Header.Xmask) != 0)
{
return(false);
}
int num2 = (int)((double)Point.Y - (double)k.Header.SpatialGridY);
if ((num2 & k.Header.Ymask) != 0)
{
return(false);
}
int num3 = (int)((double)Point.Z - (double)k.Header.SpatialGridZ);
if ((num3 & k.Header.Zmask) != 0)
{
return(false);
}
int index1 = num3 >> k.Header.CoordinateShift << k.Header.ZShift | num2 >> k.Header.CoordinateShift << k.Header.YShift | num1 >> k.Header.CoordinateShift;
int coordinateShift = k.Header.CoordinateShift;
int index2;
for (KCL.OctreeNode childNode = k.Octree.ChildNodes[index1]; !childNode.Leaf; childNode = childNode.ChildNodes[index2])
{
--coordinateShift;
index2 = (num3 >> coordinateShift & 1) << 2 | (num2 >> coordinateShift & 1) << 1 | num1 >> coordinateShift & 1;
}
return(false);
}
public KCL(byte[] file)
{
EndianBinaryReader er = new EndianBinaryReader((Stream) new MemoryStream(file), Endianness.LittleEndian);
this.Header = new KCL.KCLHeader(er);
er.BaseStream.Position = (long)this.Header.VertexOffset;
this.Vertex = new Vector3[((this.Header.NormalOffset - this.Header.VertexOffset) / 12U)];
for (int index = 0; (long)index < (long)((this.Header.NormalOffset - this.Header.VertexOffset) / 12U); ++index)
{
this.Vertex[index] = new Vector3(er.ReadSingleInt32Exp12(), er.ReadSingleInt32Exp12(), er.ReadSingleInt32Exp12());
}
er.BaseStream.Position = (long)this.Header.NormalOffset;
this.Normals = new Vector3[((this.Header.PlaneOffset + 16U - this.Header.NormalOffset) / 6U)];
for (int index = 0; (long)index < (long)((this.Header.PlaneOffset + 16U - this.Header.NormalOffset) / 6U); ++index)
{
this.Normals[index] = new Vector3(er.ReadSingleInt16Exp12(), er.ReadSingleInt16Exp12(), er.ReadSingleInt16Exp12());
}
er.BaseStream.Position = (long)(this.Header.PlaneOffset + 16U);
this.Planes = new KCL.Plane[((this.Header.OctreeOffset - (this.Header.PlaneOffset + 16U)) / 16U)];
for (int index = 0; (long)index < (long)((this.Header.OctreeOffset - (this.Header.PlaneOffset + 16U)) / 16U); ++index)
{
this.Planes[index] = new KCL.Plane(er);
}
er.BaseStream.Position = (long)this.Header.OctreeOffset;
int NrNode = ((~this.Header.Xmask >> this.Header.CoordinateShift) + 1) * ((~this.Header.Ymask >> this.Header.CoordinateShift) + 1) * ((~this.Header.Zmask >> this.Header.CoordinateShift) + 1);
this.Octree = new KCL.OctreeNode(er, NrNode);
er.Close();
}