public void Calculate()
{
FInt fInt;
FInt fInt1;
Vector2d vector2d;
Vector2d vector2d1;
Vector2d vector2d2;
Vector2d vector2d3;
Vector2d vector2d4;
FInt fInt2;
int num;
this.Intersect = false;
this.PenetrationVector = Vector2d.zero;
DCollider bodyA = this.pair.BodyA.dCollider;
DCollider bodyB = this.pair.BodyB.dCollider;
if (bodyA.MyBounds.IsCircle && bodyB.MyBounds.IsCircle)
{
if (Bounder.CanIntersect(bodyA, bodyB, ref this.pair.CombinedSqrRadius, out fInt))
{
if (!bodyA.IsCircle || !bodyB.IsCircle)
{
goto Label0;
}
this.Intersect = true;
Mathd.Sqrt(fInt.RawValue, out fInt1);
if (fInt1.RawValue <= (long)0)
{
bodyA.center.Subtract(ref this.pair.BodyA.Velocity, out vector2d1);
bodyB.center.Subtract(ref this.pair.BodyB.Velocity, out vector2d2);
vector2d1.Subtract(ref vector2d2, out vector2d);
vector2d.Magnitude(out fInt1);
vector2d.Normalize();
}
else
{
bodyA.center.Subtract(ref bodyB.center, out vector2d);
vector2d.Normalize();
}
FInt fInt3 = (bodyA.radius + bodyB.radius) - fInt1;
vector2d.Multiply(fInt3.RawValue, out this.PenetrationVector);
this.PenetrationDirection = vector2d;
}
return;
}
else if (!Bounder.CanIntersect(bodyA, bodyB))
{
return;
}
Label0:
num = (bodyA.Edges != null ? (int)bodyA.Edges.Length : 0);
int num1 = num;
int num2 = (bodyB.Edges != null ? (int)bodyB.Edges.Length : 0);
FInt maxValue = FInt.MaxValue;
Vector2d vector2d5 = new Vector2d();
this.Intersect = true;
for (int i = 0; i < num1 + num2; i++)
{
vector2d3 = (i >= num1 ? bodyB.Edges[i - num1] : bodyA.Edges[i]);
Vector2d vector2d6 = vector2d3.localright;
vector2d6.Normalize();
FInt zeroF = FInt.ZeroF;
FInt zeroF1 = FInt.ZeroF;
FInt zeroF2 = FInt.ZeroF;
FInt zeroF3 = FInt.ZeroF;
CollisionResult.ProjectPolygon(vector2d6, bodyA, out zeroF, out zeroF2);
CollisionResult.ProjectPolygon(vector2d6, bodyB, out zeroF1, out zeroF3);
FInt fInt4 = CollisionResult.IntervalDistance(zeroF, zeroF2, zeroF1, zeroF3);
if (fInt4.RawValue >= (long)0)
{
this.Intersect = false;
return;
}
fInt4.Inverse(out fInt4);
if (fInt4.RawValue < maxValue.RawValue)
{
maxValue = fInt4;
vector2d5 = vector2d6;
bodyA.center.Subtract(ref bodyB.center, out vector2d4);
Vector2d.Dot(ref vector2d4, ref vector2d5, out fInt2);
if (fInt2.RawValue < (long)0)
{
vector2d5.Invert();
}
}
}
this.PenetrationDirection = vector2d5;
vector2d5.Multiply(maxValue.RawValue, out this.PenetrationVector);
}