public static void Set(ref SimplexCache cache, DistanceProxy proxyA, ref Sweep sweepA, DistanceProxy proxyB, ref Sweep sweepB, FP t1)
{
SeparationFunction._localPoint = TSVector2.zero;
SeparationFunction._proxyA = proxyA;
SeparationFunction._proxyB = proxyB;
int count = (int)cache.Count;
Debug.Assert(0 < count && count < 3);
SeparationFunction._sweepA = sweepA;
SeparationFunction._sweepB = sweepB;
Transform transform;
SeparationFunction._sweepA.GetTransform(out transform, t1);
Transform transform2;
SeparationFunction._sweepB.GetTransform(out transform2, t1);
bool flag = count == 1;
if (flag)
{
SeparationFunction._type = SeparationFunctionType.Points;
TSVector2 v = SeparationFunction._proxyA.Vertices[(int)cache.IndexA[0]];
TSVector2 v2 = SeparationFunction._proxyB.Vertices[(int)cache.IndexB[0]];
TSVector2 value = MathUtils.Mul(ref transform, v);
TSVector2 value2 = MathUtils.Mul(ref transform2, v2);
SeparationFunction._axis = value2 - value;
SeparationFunction._axis.Normalize();
}
else
{
bool flag2 = cache.IndexA[0] == cache.IndexA[1];
if (flag2)
{
SeparationFunction._type = SeparationFunctionType.FaceB;
TSVector2 tSVector = proxyB.Vertices[(int)cache.IndexB[0]];
TSVector2 tSVector2 = proxyB.Vertices[(int)cache.IndexB[1]];
TSVector2 tSVector3 = tSVector2 - tSVector;
SeparationFunction._axis = new TSVector2(tSVector3.y, -tSVector3.x);
SeparationFunction._axis.Normalize();
TSVector2 value3 = MathUtils.Mul(ref transform2.q, SeparationFunction._axis);
SeparationFunction._localPoint = 0.5f * (tSVector + tSVector2);
TSVector2 value4 = MathUtils.Mul(ref transform2, SeparationFunction._localPoint);
TSVector2 v3 = proxyA.Vertices[(int)cache.IndexA[0]];
TSVector2 value5 = MathUtils.Mul(ref transform, v3);
FP x = TSVector2.Dot(value5 - value4, value3);
bool flag3 = x < 0f;
if (flag3)
{
SeparationFunction._axis = -SeparationFunction._axis;
}
}
else
{
SeparationFunction._type = SeparationFunctionType.FaceA;
TSVector2 tSVector4 = SeparationFunction._proxyA.Vertices[(int)cache.IndexA[0]];
TSVector2 tSVector5 = SeparationFunction._proxyA.Vertices[(int)cache.IndexA[1]];
TSVector2 tSVector6 = tSVector5 - tSVector4;
SeparationFunction._axis = new TSVector2(tSVector6.y, -tSVector6.x);
SeparationFunction._axis.Normalize();
TSVector2 value6 = MathUtils.Mul(ref transform.q, SeparationFunction._axis);
SeparationFunction._localPoint = 0.5f * (tSVector4 + tSVector5);
TSVector2 value7 = MathUtils.Mul(ref transform, SeparationFunction._localPoint);
TSVector2 v4 = SeparationFunction._proxyB.Vertices[(int)cache.IndexB[0]];
TSVector2 value8 = MathUtils.Mul(ref transform2, v4);
FP x2 = TSVector2.Dot(value8 - value7, value6);
bool flag4 = x2 < 0f;
if (flag4)
{
SeparationFunction._axis = -SeparationFunction._axis;
}
}
}
}
public static void CalculateTimeOfImpact(out TOIOutput output, TOIInput input)
{
output = default(TOIOutput);
output.State = TOIOutputState.Unknown;
output.T = input.TMax;
Sweep sweepA = input.SweepA;
Sweep sweepB = input.SweepB;
sweepA.Normalize();
sweepB.Normalize();
FP tMax = input.TMax;
FP x = input.ProxyA.Radius + input.ProxyB.Radius;
FP fP = TSMath.Max(Settings.LinearSlop, x - 3f * Settings.LinearSlop);
FP y = 0.25f * Settings.LinearSlop;
Debug.Assert(fP > y);
FP fP2 = 0f;
int num = 0;
TimeOfImpact._distanceInput = (TimeOfImpact._distanceInput ?? new DistanceInput());
TimeOfImpact._distanceInput.ProxyA = input.ProxyA;
TimeOfImpact._distanceInput.ProxyB = input.ProxyB;
TimeOfImpact._distanceInput.UseRadii = false;
while (true)
{
Transform transformA;
sweepA.GetTransform(out transformA, fP2);
Transform transformB;
sweepB.GetTransform(out transformB, fP2);
TimeOfImpact._distanceInput.TransformA = transformA;
TimeOfImpact._distanceInput.TransformB = transformB;
DistanceOutput distanceOutput;
SimplexCache simplexCache;
Distance.ComputeDistance(out distanceOutput, out simplexCache, TimeOfImpact._distanceInput);
bool flag = distanceOutput.Distance <= 0f;
if (flag)
{
break;
}
bool flag2 = distanceOutput.Distance < fP + y;
if (flag2)
{
goto Block_3;
}
SeparationFunction.Set(ref simplexCache, input.ProxyA, ref sweepA, input.ProxyB, ref sweepB, fP2);
bool flag3 = false;
FP fP3 = tMax;
int num2 = 0;
while (true)
{
int indexA;
int indexB;
FP x2 = SeparationFunction.FindMinSeparation(out indexA, out indexB, fP3);
bool flag4 = x2 > fP + y;
if (flag4)
{
goto Block_4;
}
bool flag5 = x2 > fP - y;
if (flag5)
{
goto Block_5;
}
FP fP4 = SeparationFunction.Evaluate(indexA, indexB, fP2);
bool flag6 = fP4 < fP - y;
if (flag6)
{
goto Block_6;
}
bool flag7 = fP4 <= fP + y;
if (flag7)
{
goto Block_7;
}
int num3 = 0;
FP fP5 = fP2;
FP fP6 = fP3;
FP fP7;
bool flag11;
do
{
bool flag8 = (num3 & 1) != 0;
if (flag8)
{
fP7 = fP5 + (fP - fP4) * (fP6 - fP5) / (x2 - fP4);
}
else
{
fP7 = 0.5f * (fP5 + fP6);
}
num3++;
FP fP8 = SeparationFunction.Evaluate(indexA, indexB, fP7);
bool flag9 = FP.Abs(fP8 - fP) < y;
if (flag9)
{
goto Block_9;
}
bool flag10 = fP8 > fP;
if (flag10)
{
fP5 = fP7;
fP4 = fP8;
}
else
{
fP6 = fP7;
x2 = fP8;
}
flag11 = (num3 == 50);
}while (!flag11);
IL_373:
num2++;
bool flag12 = num2 == Settings.MaxPolygonVertices;
if (flag12)
{
break;
}
continue;
Block_9:
fP3 = fP7;
goto IL_373;
}
IL_396:
num++;
bool flag13 = flag3;
if (flag13)
{
goto Block_13;
}
bool flag14 = num == 20;
if (flag14)
{
goto Block_14;
}
continue;
Block_4:
output.State = TOIOutputState.Seperated;
output.T = tMax;
flag3 = true;
goto IL_396;
Block_5:
fP2 = fP3;
goto IL_396;
Block_6:
output.State = TOIOutputState.Failed;
output.T = fP2;
flag3 = true;
goto IL_396;
Block_7:
output.State = TOIOutputState.Touching;
output.T = fP2;
flag3 = true;
goto IL_396;
}
output.State = TOIOutputState.Overlapped;
output.T = 0f;
return;
Block_3:
output.State = TOIOutputState.Touching;
output.T = fP2;
Block_13:
return;
Block_14:
output.State = TOIOutputState.Failed;
output.T = fP2;
}
public void Clone(Body body)
{
this._angularDamping = body._angularDamping;
this._bodyType = body._bodyType;
this._inertia = body._inertia;
this._linearDamping = body._linearDamping;
this._mass = body._mass;
this._sleepingAllowed = body._sleepingAllowed;
this._awake = body._awake;
this._fixedRotation = body._fixedRotation;
this._enabled = body._enabled;
this._angularVelocity = body._angularVelocity;
this._linearVelocity = body._linearVelocity;
this._force = body._force;
this._invI = body._invI;
this._invMass = body._invMass;
this._sleepTime = body._sleepTime;
this._sweep.A = body._sweep.A;
this._sweep.A0 = body._sweep.A0;
this._sweep.Alpha0 = body._sweep.Alpha0;
this._sweep.C = body._sweep.C;
this._sweep.C0 = body._sweep.C0;
this._sweep.LocalCenter = body._sweep.LocalCenter;
this._torque = body._torque;
this._xf.p = body._xf.p;
this._xf.q = body._xf.q;
this._island = body._island;
this.disabled = body.disabled;
this.GravityScale = body.GravityScale;
this.IsBullet = body.IsBullet;
this.IgnoreCCD = body.IgnoreCCD;
this.IgnoreGravity = body.IgnoreGravity;
this.prevKinematicMass = body.prevKinematicMass;
this.prevKinematicInvMass = body.prevKinematicInvMass;
this.prevKinematicInertia = body.prevKinematicInertia;
this.prevKinematicInvI = body.prevKinematicInvI;
this.prevKinematicSweep = body.prevKinematicSweep;
for (int index = 0, length = shapesClone.Count; index < length; index++)
{
poolClone2D.GiveBack(shapesClone[index]);
}
this.shapesClone.Clear();
List <Physics2D.Fixture> fixtureList = body.FixtureList;
for (int index = 0, length = fixtureList.Count; index < length; index++)
{
GenericShapeClone2D shapeClone = poolClone2D.GetNew();
shapeClone.Clone(body.FixtureList[index].Shape);
this.shapesClone.Add(shapeClone);
}
if (body.ContactList == null)
{
this.contactEdgeClone = null;
}
else
{
this.contactEdgeClone = WorldClone2D.poolContactEdgeClone.GetNew();
this.contactEdgeClone.Clone(body.ContactList);
}
}
private void SolveTOI(ref TimeStep step)
{
this.Island.Reset(64, 32, 0, this.ContactManager);
bool stepComplete = this._stepComplete;
if (stepComplete)
{
for (int i = 0; i < this.BodyList.Count; i++)
{
this.BodyList[i]._island = false;
this.BodyList[i]._sweep.Alpha0 = 0f;
}
for (int j = 0; j < this.ContactManager.ContactList.Count; j++)
{
Contact contact = this.ContactManager.ContactList[j];
contact.IslandFlag = false;
contact.TOIFlag = false;
contact._toiCount = 0;
contact._toi = 1f;
}
}
while (true)
{
Contact contact2 = null;
FP fP = 1f;
for (int k = 0; k < this.ContactManager.ContactList.Count; k++)
{
Contact contact3 = this.ContactManager.ContactList[k];
bool flag = !contact3.Enabled;
if (!flag)
{
bool flag2 = contact3._toiCount > 8;
if (!flag2)
{
bool tOIFlag = contact3.TOIFlag;
FP fP2;
if (tOIFlag)
{
fP2 = contact3._toi;
}
else
{
Fixture fixtureA = contact3.FixtureA;
Fixture fixtureB = contact3.FixtureB;
bool flag3 = fixtureA.IsSensor || fixtureB.IsSensor;
if (flag3)
{
goto IL_424;
}
Body body = fixtureA.Body;
Body body2 = fixtureB.Body;
BodyType bodyType = body.BodyType;
BodyType bodyType2 = body2.BodyType;
Debug.Assert(bodyType == BodyType.Dynamic || bodyType2 == BodyType.Dynamic);
bool flag4 = body.Awake && bodyType > BodyType.Static;
bool flag5 = body2.Awake && bodyType2 > BodyType.Static;
bool flag6 = !flag4 && !flag5;
if (flag6)
{
goto IL_424;
}
bool flag7 = (body.IsBullet || bodyType != BodyType.Dynamic) && (fixtureA.IgnoreCCDWith & fixtureB.CollisionCategories) == Category.None && !body.IgnoreCCD;
bool flag8 = (body2.IsBullet || bodyType2 != BodyType.Dynamic) && (fixtureB.IgnoreCCDWith & fixtureA.CollisionCategories) == Category.None && !body2.IgnoreCCD;
bool flag9 = !flag7 && !flag8;
if (flag9)
{
goto IL_424;
}
FP alpha = body._sweep.Alpha0;
bool flag10 = body._sweep.Alpha0 < body2._sweep.Alpha0;
if (flag10)
{
alpha = body2._sweep.Alpha0;
body._sweep.Advance(alpha);
}
else
{
bool flag11 = body2._sweep.Alpha0 < body._sweep.Alpha0;
if (flag11)
{
alpha = body._sweep.Alpha0;
body2._sweep.Advance(alpha);
}
}
Debug.Assert(alpha < 1f);
this._input.ProxyA.Set(fixtureA.Shape, contact3.ChildIndexA);
this._input.ProxyB.Set(fixtureB.Shape, contact3.ChildIndexB);
this._input.SweepA = body._sweep;
this._input.SweepB = body2._sweep;
this._input.TMax = 1f;
TOIOutput tOIOutput;
TimeOfImpact.CalculateTimeOfImpact(out tOIOutput, this._input);
FP t = tOIOutput.T;
bool flag12 = tOIOutput.State == TOIOutputState.Touching;
if (flag12)
{
fP2 = TSMath.Min(alpha + (1f - alpha) * t, 1f);
}
else
{
fP2 = 1f;
}
contact3._toi = fP2;
contact3.TOIFlag = true;
}
bool flag13 = fP2 < fP;
if (flag13)
{
contact2 = contact3;
fP = fP2;
}
}
}
IL_424 :;
}
bool flag14 = contact2 == null || 1f - 10f * Settings.Epsilon < fP;
if (flag14)
{
break;
}
Fixture fixtureA2 = contact2.FixtureA;
Fixture fixtureB2 = contact2.FixtureB;
Body body3 = fixtureA2.Body;
Body body4 = fixtureB2.Body;
Sweep sweep = body3._sweep;
Sweep sweep2 = body4._sweep;
body3.Advance(fP);
body4.Advance(fP);
contact2.Update(this.ContactManager);
contact2.TOIFlag = false;
contact2._toiCount++;
bool flag15 = !contact2.Enabled || !contact2.IsTouching;
if (flag15)
{
contact2.Enabled = false;
body3._sweep = sweep;
body4._sweep = sweep2;
body3.SynchronizeTransform();
body4.SynchronizeTransform();
}
else
{
body3.Awake = true;
body4.Awake = true;
this.Island.Clear();
this.Island.Add(body3);
this.Island.Add(body4);
this.Island.Add(contact2);
body3._island = true;
body4._island = true;
contact2.IslandFlag = true;
Body[] array = new Body[]
{
body3,
body4
};
for (int l = 0; l < 2; l++)
{
Body body5 = array[l];
bool flag16 = body5.BodyType == BodyType.Dynamic;
if (flag16)
{
for (ContactEdge contactEdge = body5.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
Contact contact4 = contactEdge.Contact;
bool flag17 = this.Island.BodyCount == this.Island.BodyCapacity;
if (flag17)
{
break;
}
bool flag18 = this.Island.ContactCount == this.Island.ContactCapacity;
if (flag18)
{
break;
}
bool islandFlag = contact4.IslandFlag;
if (!islandFlag)
{
Body other = contactEdge.Other;
bool flag19 = other.BodyType == BodyType.Dynamic && !body5.IsBullet && !other.IsBullet;
if (!flag19)
{
bool flag20 = contact4.FixtureA.IsSensor || contact4.FixtureB.IsSensor;
if (!flag20)
{
Sweep sweep3 = other._sweep;
bool flag21 = !other._island;
if (flag21)
{
other.Advance(fP);
}
contact4.Update(this.ContactManager);
bool flag22 = !contact4.Enabled;
if (flag22)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
bool flag23 = !contact4.IsTouching;
if (flag23)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
contact4.IslandFlag = true;
this.Island.Add(contact4);
bool island = other._island;
if (!island)
{
other._island = true;
bool flag24 = other.BodyType > BodyType.Static;
if (flag24)
{
other.Awake = true;
}
this.Island.Add(other);
}
}
}
}
}
}
}
}
}
TimeStep timeStep;
timeStep.dt = (1f - fP) * step.dt;
timeStep.inv_dt = 1f / timeStep.dt;
timeStep.dtRatio = 1f;
this.Island.SolveTOI(ref timeStep, body3.IslandIndex, body4.IslandIndex, false);
for (int m = 0; m < this.Island.BodyCount; m++)
{
Body body6 = this.Island.Bodies[m];
body6._island = false;
bool flag25 = body6.BodyType != BodyType.Dynamic;
if (!flag25)
{
body6.SynchronizeFixtures();
for (ContactEdge contactEdge2 = body6.ContactList; contactEdge2 != null; contactEdge2 = contactEdge2.Next)
{
contactEdge2.Contact.TOIFlag = false;
contactEdge2.Contact.IslandFlag = false;
}
}
}
this.ContactManager.FindNewContacts();
}
}
this._stepComplete = true;
}
public static void Set(ref SimplexCache cache, DistanceProxy proxyA, ref Sweep sweepA, DistanceProxy proxyB, ref Sweep sweepB, FP t1)
{
_localPoint = TSVector2.zero;
_proxyA = proxyA;
_proxyB = proxyB;
int count = cache.Count;
Debug.Assert(0 < count && count < 3);
_sweepA = sweepA;
_sweepB = sweepB;
Transform xfA, xfB;
_sweepA.GetTransform(out xfA, t1);
_sweepB.GetTransform(out xfB, t1);
if (count == 1)
{
_type = SeparationFunctionType.Points;
TSVector2 localPointA = _proxyA.Vertices[cache.IndexA[0]];
TSVector2 localPointB = _proxyB.Vertices[cache.IndexB[0]];
TSVector2 pointA = MathUtils.Mul(ref xfA, localPointA);
TSVector2 pointB = MathUtils.Mul(ref xfB, localPointB);
_axis = pointB - pointA;
_axis.Normalize();
}
else if (cache.IndexA[0] == cache.IndexA[1])
{
// Two points on B and one on A.
_type = SeparationFunctionType.FaceB;
TSVector2 localPointB1 = proxyB.Vertices[cache.IndexB[0]];
TSVector2 localPointB2 = proxyB.Vertices[cache.IndexB[1]];
TSVector2 a = localPointB2 - localPointB1;
_axis = new TSVector2(a.y, -a.x);
_axis.Normalize();
TSVector2 normal = MathUtils.Mul(ref xfB.q, _axis);
_localPoint = 0.5f * (localPointB1 + localPointB2);
TSVector2 pointB = MathUtils.Mul(ref xfB, _localPoint);
TSVector2 localPointA = proxyA.Vertices[cache.IndexA[0]];
TSVector2 pointA = MathUtils.Mul(ref xfA, localPointA);
FP s = TSVector2.Dot(pointA - pointB, normal);
if (s < 0.0f)
{
_axis = -_axis;
}
}
else
{
// Two points on A and one or two points on B.
_type = SeparationFunctionType.FaceA;
TSVector2 localPointA1 = _proxyA.Vertices[cache.IndexA[0]];
TSVector2 localPointA2 = _proxyA.Vertices[cache.IndexA[1]];
TSVector2 a = localPointA2 - localPointA1;
_axis = new TSVector2(a.y, -a.x);
_axis.Normalize();
TSVector2 normal = MathUtils.Mul(ref xfA.q, _axis);
_localPoint = 0.5f * (localPointA1 + localPointA2);
TSVector2 pointA = MathUtils.Mul(ref xfA, _localPoint);
TSVector2 localPointB = _proxyB.Vertices[cache.IndexB[0]];
TSVector2 pointB = MathUtils.Mul(ref xfB, localPointB);
FP s = TSVector2.Dot(pointB - pointA, normal);
if (s < 0.0f)
{
_axis = -_axis;
}
}
//FPE note: the returned value that used to be here has been removed, as it was not used.
}
/// <summary>
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
/// non-tunneling collision. If you change the time interval, you should call this function
/// again.
/// Note: use Distance() to compute the contact point and normal at the time of impact.
/// </summary>
/// <param name="output">The output.</param>
/// <param name="input">The input.</param>
public static void CalculateTimeOfImpact(out TOIOutput output, TOIInput input)
{
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOICalls;
}
output = new TOIOutput();
output.State = TOIOutputState.Unknown;
output.T = input.TMax;
Sweep sweepA = input.SweepA;
Sweep sweepB = input.SweepB;
// Large rotations can make the root finder fail, so we normalize the
// sweep angles.
sweepA.Normalize();
sweepB.Normalize();
FP tMax = input.TMax;
FP totalRadius = input.ProxyA.Radius + input.ProxyB.Radius;
FP target = TrueSync.TSMath.Max(Settings.LinearSlop, totalRadius - 3.0f * Settings.LinearSlop);
FP tolerance = 0.25f * Settings.LinearSlop;
Debug.Assert(target > tolerance);
FP t1 = 0.0f;
const int k_maxIterations = 20;
int iter = 0;
// Prepare input for distance query.
_distanceInput = _distanceInput ?? new DistanceInput();
_distanceInput.ProxyA = input.ProxyA;
_distanceInput.ProxyB = input.ProxyB;
_distanceInput.UseRadii = false;
// The outer loop progressively attempts to compute new separating axes.
// This loop terminates when an axis is repeated (no progress is made).
for (; ;)
{
Transform xfA, xfB;
sweepA.GetTransform(out xfA, t1);
sweepB.GetTransform(out xfB, t1);
// Get the distance between shapes. We can also use the results
// to get a separating axis.
_distanceInput.TransformA = xfA;
_distanceInput.TransformB = xfB;
DistanceOutput distanceOutput;
SimplexCache cache;
Distance.ComputeDistance(out distanceOutput, out cache, _distanceInput);
// If the shapes are overlapped, we give up on continuous collision.
if (distanceOutput.Distance <= 0.0f)
{
// Failure!
output.State = TOIOutputState.Overlapped;
output.T = 0.0f;
break;
}
if (distanceOutput.Distance < target + tolerance)
{
// Victory!
output.State = TOIOutputState.Touching;
output.T = t1;
break;
}
SeparationFunction.Set(ref cache, input.ProxyA, ref sweepA, input.ProxyB, ref sweepB, t1);
// Compute the TOI on the separating axis. We do this by successively
// resolving the deepest point. This loop is bounded by the number of vertices.
bool done = false;
FP t2 = tMax;
int pushBackIter = 0;
for (; ;)
{
// Find the deepest point at t2. Store the witness point indices.
int indexA, indexB;
FP s2 = SeparationFunction.FindMinSeparation(out indexA, out indexB, t2);
// Is the final configuration separated?
if (s2 > target + tolerance)
{
// Victory!
output.State = TOIOutputState.Seperated;
output.T = tMax;
done = true;
break;
}
// Has the separation reached tolerance?
if (s2 > target - tolerance)
{
// Advance the sweeps
t1 = t2;
break;
}
// Compute the initial separation of the witness points.
FP s1 = SeparationFunction.Evaluate(indexA, indexB, t1);
// Check for initial overlap. This might happen if the root finder
// runs out of iterations.
if (s1 < target - tolerance)
{
output.State = TOIOutputState.Failed;
output.T = t1;
done = true;
break;
}
// Check for touching
if (s1 <= target + tolerance)
{
// Victory! t1 should hold the TOI (could be 0.0).
output.State = TOIOutputState.Touching;
output.T = t1;
done = true;
break;
}
// Compute 1D root of: f(x) - target = 0
int rootIterCount = 0;
FP a1 = t1, a2 = t2;
for (; ;)
{
// Use a mix of the secant rule and bisection.
FP t;
if ((rootIterCount & 1) != 0)
{
// Secant rule to improve convergence.
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
}
else
{
// Bisection to guarantee progress.
t = 0.5f * (a1 + a2);
}
++rootIterCount;
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOIRootIters;
}
FP s = SeparationFunction.Evaluate(indexA, indexB, t);
if (FP.Abs(s - target) < tolerance)
{
// t2 holds a tentative value for t1
t2 = t;
break;
}
// Ensure we continue to bracket the root.
if (s > target)
{
a1 = t;
s1 = s;
}
else
{
a2 = t;
s2 = s;
}
if (rootIterCount == 50)
{
break;
}
}
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
TOIMaxRootIters = Math.Max(TOIMaxRootIters, rootIterCount);
}
++pushBackIter;
if (pushBackIter == Settings.MaxPolygonVertices)
{
break;
}
}
++iter;
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOIIters;
}
if (done)
{
break;
}
if (iter == k_maxIterations)
{
// Root finder got stuck. Semi-victory.
output.State = TOIOutputState.Failed;
output.T = t1;
break;
}
}
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
TOIMaxIters = Math.Max(TOIMaxIters, iter);
}
}
