public VOIntersection(LocalAvoidance.VO vo1, LocalAvoidance.VO vo2, float factor1, float factor2, bool inside = false)
{
this.vo1 = vo1;
this.vo2 = vo2;
this.factor1 = factor1;
this.factor2 = factor2;
this.inside = inside;
}
public VOLine(LocalAvoidance.VO vo, Vector3 start, Vector3 end, bool inf, int id, bool wrongSide)
{
this.vo = vo;
this.start = start;
this.end = end;
this.inf = inf;
this.id = id;
this.wrongSide = wrongSide;
}
public Vector3 ClampMovement(Vector3 direction)
{
Vector3 vector = direction * this.delta;
Vector3 vector2 = base.transform.position + direction;
Vector3 vector3 = vector2;
float num = 0f;
int num2 = 0;
this.vos.Clear();
float magnitude = this.velocity.magnitude;
LocalAvoidance[] array = this.agents;
for (int i = 0; i < array.Length; i++)
{
LocalAvoidance localAvoidance = array[i];
if (!(localAvoidance == this) && !(localAvoidance == null))
{
Vector3 vector4 = localAvoidance.transform.position - base.transform.position;
float magnitude2 = vector4.magnitude;
float num3 = this.radius + localAvoidance.radius;
if (magnitude2 <= vector.magnitude * this.delta + num3 + magnitude + localAvoidance.GetVelocity().magnitude)
{
if (num2 <= 50)
{
num2++;
LocalAvoidance.VO vO = new LocalAvoidance.VO();
vO.origin = base.transform.position + Vector3.Lerp(this.velocity * this.delta, localAvoidance.GetVelocity() * this.delta, this.responability);
vO.direction = vector4.normalized;
if (num3 > vector4.magnitude)
{
vO.angle = 1.57079637f;
}
else
{
vO.angle = (float)Math.Asin((double)(num3 / magnitude2));
}
vO.limit = magnitude2 - num3;
if (vO.limit < 0f)
{
vO.origin += vO.direction * vO.limit;
vO.limit = 0f;
}
float num4 = Mathf.Atan2(vO.direction.z, vO.direction.x);
vO.pRight = new Vector3(Mathf.Cos(num4 + vO.angle), 0f, Mathf.Sin(num4 + vO.angle));
vO.pLeft = new Vector3(Mathf.Cos(num4 - vO.angle), 0f, Mathf.Sin(num4 - vO.angle));
vO.nLeft = new Vector3(Mathf.Cos(num4 + vO.angle - 1.57079637f), 0f, Mathf.Sin(num4 + vO.angle - 1.57079637f));
vO.nRight = new Vector3(Mathf.Cos(num4 - vO.angle + 1.57079637f), 0f, Mathf.Sin(num4 - vO.angle + 1.57079637f));
this.vos.Add(vO);
}
}
}
}
if (this.resType == LocalAvoidance.ResolutionType.Geometric)
{
for (int j = 0; j < this.vos.Count; j++)
{
if (this.vos[j].Contains(vector3))
{
num = float.PositiveInfinity;
if (this.drawGizmos)
{
Debug.DrawRay(vector3, Vector3.down, Color.red);
}
vector3 = base.transform.position;
break;
}
}
if (this.drawGizmos)
{
for (int k = 0; k < this.vos.Count; k++)
{
this.vos[k].Draw(Color.black);
}
}
if (num == 0f)
{
return(vector);
}
List <LocalAvoidance.VOLine> list = new List <LocalAvoidance.VOLine>();
for (int l = 0; l < this.vos.Count; l++)
{
LocalAvoidance.VO vO2 = this.vos[l];
float num5 = (float)Math.Atan2((double)vO2.direction.z, (double)vO2.direction.x);
Vector3 vector5 = vO2.origin + new Vector3((float)Math.Cos((double)(num5 + vO2.angle)), 0f, (float)Math.Sin((double)(num5 + vO2.angle))) * vO2.limit;
Vector3 vector6 = vO2.origin + new Vector3((float)Math.Cos((double)(num5 - vO2.angle)), 0f, (float)Math.Sin((double)(num5 - vO2.angle))) * vO2.limit;
Vector3 end = vector5 + new Vector3((float)Math.Cos((double)(num5 + vO2.angle)), 0f, (float)Math.Sin((double)(num5 + vO2.angle))) * 100f;
Vector3 end2 = vector6 + new Vector3((float)Math.Cos((double)(num5 - vO2.angle)), 0f, (float)Math.Sin((double)(num5 - vO2.angle))) * 100f;
int num6 = (!Polygon.Left(vO2.origin, vO2.origin + vO2.direction, base.transform.position + this.velocity)) ? 2 : 1;
list.Add(new LocalAvoidance.VOLine(vO2, vector5, end, true, 1, num6 == 1));
list.Add(new LocalAvoidance.VOLine(vO2, vector6, end2, true, 2, num6 == 2));
list.Add(new LocalAvoidance.VOLine(vO2, vector5, vector6, false, 3, false));
bool flag = false;
bool flag2 = false;
if (!flag)
{
for (int m = 0; m < this.vos.Count; m++)
{
if (m != l && this.vos[m].Contains(vector5))
{
flag = true;
break;
}
}
}
if (!flag2)
{
for (int n = 0; n < this.vos.Count; n++)
{
if (n != l && this.vos[n].Contains(vector6))
{
flag2 = true;
break;
}
}
}
vO2.AddInt(0f, flag, 1);
vO2.AddInt(0f, flag2, 2);
vO2.AddInt(0f, flag, 3);
vO2.AddInt(1f, flag2, 3);
}
for (int num7 = 0; num7 < list.Count; num7++)
{
for (int num8 = num7 + 1; num8 < list.Count; num8++)
{
LocalAvoidance.VOLine vOLine = list[num7];
LocalAvoidance.VOLine vOLine2 = list[num8];
if (vOLine.vo != vOLine2.vo)
{
float num9;
float num10;
if (Polygon.IntersectionFactor(vOLine.start, vOLine.end, vOLine2.start, vOLine2.end, out num9, out num10))
{
if (num9 >= 0f && num10 >= 0f && (vOLine.inf || num9 <= 1f) && (vOLine2.inf || num10 <= 1f))
{
Vector3 p = vOLine.start + (vOLine.end - vOLine.start) * num9;
bool flag3 = vOLine.wrongSide || vOLine2.wrongSide;
if (!flag3)
{
for (int num11 = 0; num11 < this.vos.Count; num11++)
{
if (this.vos[num11] != vOLine.vo && this.vos[num11] != vOLine2.vo && this.vos[num11].Contains(p))
{
flag3 = true;
break;
}
}
}
vOLine.vo.AddInt(num9, flag3, vOLine.id);
vOLine2.vo.AddInt(num10, flag3, vOLine2.id);
if (this.drawGizmos)
{
Debug.DrawRay(vOLine.start + (vOLine.end - vOLine.start) * num9, Vector3.up, (!flag3) ? Color.green : Color.magenta);
}
}
}
}
}
}
for (int num12 = 0; num12 < this.vos.Count; num12++)
{
Vector3 vector7;
if (this.vos[num12].FinalInts(vector2, base.transform.position + this.velocity, this.drawGizmos, out vector7))
{
float sqrMagnitude = (vector7 - vector2).sqrMagnitude;
if (sqrMagnitude < num)
{
vector3 = vector7;
num = sqrMagnitude;
if (this.drawGizmos)
{
Debug.DrawLine(vector2 + Vector3.up, vector3 + Vector3.up, Color.red);
}
}
}
}
if (this.drawGizmos)
{
Debug.DrawLine(vector2 + Vector3.up, vector3 + Vector3.up, Color.red);
}
return(Vector3.ClampMagnitude(vector3 - base.transform.position, vector.magnitude * this.maxSpeedScale));
}
else
{
if (this.resType == LocalAvoidance.ResolutionType.Sampled)
{
Vector3 a = vector;
Vector3 normalized = a.normalized;
Vector3 a2 = Vector3.Cross(normalized, Vector3.up);
int num13 = 10;
int num14 = 0;
while (num14 < 10)
{
float num15 = (float)(3.1415926535897931 * (double)this.circlePoint / (double)num13);
float num16 = (float)(3.1415926535897931 - (double)this.circlePoint * 3.1415926535897931) * 0.5f;
for (int num17 = 0; num17 < num13; num17++)
{
float num18 = num15 * (float)num17;
Vector3 vector8 = base.transform.position + vector - (a * (float)Math.Sin((double)(num18 + num16)) * (float)num14 * this.circleScale + a2 * (float)Math.Cos((double)(num18 + num16)) * (float)num14 * this.circleScale);
if (this.CheckSample(vector8, this.vos))
{
return(vector8 - base.transform.position);
}
}
num14++;
num13 += 2;
}
for (int num19 = 0; num19 < this.samples.Length; num19++)
{
Vector3 vector9 = base.transform.position + this.samples[num19].x * a2 + this.samples[num19].z * normalized + this.samples[num19].y * a;
if (this.CheckSample(vector9, this.vos))
{
return(vector9 - base.transform.position);
}
}
return(Vector3.zero);
}
return(Vector3.zero);
}
}
