public void distance_point() {
var s = new Segment2(Point2.Zero, new Point2(4, 2));
Assert.Equal(3, s.Distance(new Point2(-3, 0)));
Assert.Equal(Math.Sqrt(18), s.Distance(new Point2(7, 5)));
Assert.Equal(Math.Sqrt(5), s.Distance(new Point2(1, 3)));
}
public void distance_squared_point() {
var s = new Segment2(new Point2(), new Point2(4, 2));
Assert.Equal(9, s.DistanceSquared(new Point2(-3, 0)));
Assert.Equal(18, s.DistanceSquared(new Point2(7, 5)));
Assert.Equal(5, s.DistanceSquared(new Point2(1, 3)));
}
public void constructor_copy() {
var i = new Segment2(new Point2(1, 2), new Point2(4, 5));
var j = new Segment2(i);
Assert.Equal(new Point2(1, 2), j.A);
Assert.Equal(new Point2(4, 5), j.B);
}
public void equal() {
var z = new Segment2(new Point2(1, 3), new Point2(2, 5));
var q = new Segment2(new Point2(1, 3), new Point2(2, 5));
Assert.Equal(z, q);
Assert.Equal(q, z);
q = new Segment2(new Point2(0, 2), new Point2(5, 6));
Assert.NotEqual(z, q);
Assert.NotEqual(q, z);
}
public void intersect_point_test() {
var s = new Segment2(new Point2(), new Point2(4, 2));
Assert.False(s.Intersects(new Point2(-3, 0)));
Assert.False(s.Intersects(new Point2(7, 5)));
Assert.False(s.Intersects(new Point2(1, 3)));
Assert.True(s.Intersects(new Point2()));
Assert.True(s.Intersects(new Point2(4, 2)));
Assert.True(s.Intersects(new Point2(2, 1)));
}
public static void segment_segment_intersection_result()
{
var a = new Segment2(A, B);
var b = new Segment2(C, D);
var forward = a.Intersection(b);
var reverse = b.Intersection(a);
forward.Should().NotBeNull();
forward.Should().Be(reverse);
}
public void intersection_cross_ends() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(0.5, 1.5), new Point2(1, 1));
var res = (SegmentIntersectionOperation.PointResult)SegmentIntersectionOperation.IntersectionDetails(a, b);
Assert.Equal(new Point2(1, 1), res.P);
Assert.Equal(new Vector2(1, 1), res.Ratios);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.TypeA);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.TypeB);
res = (SegmentIntersectionOperation.PointResult)SegmentIntersectionOperation.IntersectionDetails(b, a);
Assert.Equal(new Point2(1, 1), res.P);
Assert.Equal(new Vector2(1, 1), res.Ratios);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.TypeA);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.TypeB);
}
public static void line_segment_intersection_result()
{
var a1 = new Line2(A, B);
var a2 = new Line2(B, A);
var b1 = new Segment2(C, D);
var b2 = new Segment2(D, C);
var forward1 = a1.Intersection(b1);
var forward2 = a2.Intersection(b2);
var reverse1 = b1.Intersection(a1);
var reverse2 = b2.Intersection(a2);
forward1.Should().NotBeNull();
forward1.Should().Be(forward2);
forward1.Should().Be(reverse1);
forward1.Should().Be(reverse2);
}
public void intersection_same() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(1, 1), new Point2(0, 0));
var res = SegmentIntersectionOperation.IntersectionDetails(a, a) as SegmentIntersectionOperation.SegmentResult;
AreSpatiallyEqual(a, res.S);
AreSpatiallyEqual(b, res.S);
Assert.Equal(a.A, res.S.A);
Assert.Equal(a.B, res.S.B);
Assert.Equal(new Vector2(0, 0), res.A.Ratios);
Assert.Equal(new Vector2(1, 1), res.B.Ratios);
res = SegmentIntersectionOperation.IntersectionDetails(b, b) as SegmentIntersectionOperation.SegmentResult;
AreSpatiallyEqual(a, res.S);
AreSpatiallyEqual(b, res.S);
Assert.Equal(b.A, res.S.A);
Assert.Equal(b.B, res.S.B);
Assert.Equal(new Vector2(0, 0), res.A.Ratios);
Assert.Equal(new Vector2(1, 1), res.B.Ratios);
res = SegmentIntersectionOperation.IntersectionDetails(a, b) as SegmentIntersectionOperation.SegmentResult;
AreSpatiallyEqual(a, res.S);
AreSpatiallyEqual(b, res.S);
Assert.Equal(a.A, res.S.A);
Assert.Equal(a.B, res.S.B);
Assert.Equal(new Vector2(0, 1), res.A.Ratios);
Assert.Equal(new Vector2(1, 0), res.B.Ratios);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Butt, res.A.TypeA);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.A.TypeB);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Head, res.B.TypeA);
Assert.Equal(SegmentIntersectionOperation.SegmentIntersectionType.Butt, res.B.TypeB);
res = SegmentIntersectionOperation.IntersectionDetails(b, a) as SegmentIntersectionOperation.SegmentResult;
AreSpatiallyEqual(a, res.S);
AreSpatiallyEqual(b, res.S);
Assert.Equal(b.A, res.S.A);
Assert.Equal(b.B, res.S.B);
Assert.Equal(new Vector2(0, 1), res.A.Ratios);
Assert.Equal(new Vector2(1, 0), res.B.Ratios);
}
private void AreEqual_ClosestPoints(Ray2D ray, Segment2 segment, Vector2 expected)
{
AreEqual_ClosestPoints(ray, segment, expected, expected);
}
public void Distance_Diagonal()
{
float length = 3;
var ray = new Ray2D();
var segment = new Segment2();
foreach (var origin in originPoints2)
{
foreach (var direction in directionPoints2)
{
Vector2 perpendicular = direction.RotateCW90();
ray.origin = origin;
ray.direction = direction;
for (int segmentAngle = 15; segmentAngle < 180; segmentAngle += 15)
{
Vector2 segmentDirection = direction.RotateCW(segmentAngle);
segment.a = origin;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment);
segment.a = origin + direction;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment);
segment.a = origin - direction;
segment.b = segment.a + segmentDirection.RotateCW90() * length;
AreEqual_Distance(ray, segment, 1);
segment.a = origin + perpendicular;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, 1);
segment.a = origin + perpendicular + direction;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, 1);
segment.a = origin + perpendicular * 2 + direction;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, 2);
segment.a = origin + perpendicular + direction * 2;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, 1);
segment.a = origin + perpendicular * 2 + direction * 2;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, 2);
segment.a = origin - segmentDirection;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment);
segment.a = origin + direction - segmentDirection;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment);
}
Vector2 diagonal = direction.RotateCW45();
for (int segmentAngle = 0; segmentAngle <= 180; segmentAngle += 15)
{
Vector2 segmentDirection = diagonal.RotateCW(segmentAngle);
segment.a = origin + perpendicular - direction;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, PTUtils.Sqrt2);
segment.a = origin + perpendicular * length - direction * length;
segment.b = segment.a + segmentDirection * length;
AreEqual_Distance(ray, segment, PTUtils.Sqrt2 * length);
}
segment.a = origin + perpendicular - direction - diagonal * 2;
segment.b = segment.a + diagonal * 4;
AreEqual_Distance(ray, segment, PTUtils.Sqrt2);
segment.a = origin + perpendicular - direction;
segment.b = segment.a + diagonal * 4;
AreEqual_Distance(ray, segment, PTUtils.Sqrt2);
segment.a = origin + perpendicular + direction;
segment.b = segment.a + diagonal.RotateCW90() * 4;
AreEqual_Distance(ray, segment, 1);
}
}
}
private void AreEqual_ClosestPoints_Point(Segment2 segment1, Segment2 segment2, Vector2 expected)
{
AreEqual_ClosestPoints(segment1, segment2, expected, expected, expected, expected);
}
public void Intersect_Diagonal()
{
var segment1 = new Segment2();
var segment2 = new Segment2();
foreach (var origin in originPoints2)
{
foreach (var direction in directionPoints2)
{
Vector2 perpendicular = direction.RotateCW90();
segment1.a = origin;
segment1.b = origin + direction * 10;
for (int segmentAngle = 15; segmentAngle < 180; segmentAngle += 15)
{
Vector2 segmentDirection = direction.RotateCW(segmentAngle);
segment2.a = origin;
segment2.b = segment2.a + segmentDirection * length;
True_IntersectPoint(segment1, segment2, segment2.a);
segment2.a = origin + direction;
segment2.b = segment2.a + segmentDirection * length;
True_IntersectPoint(segment1, segment2, segment2.a);
segment2.a = origin - direction;
segment2.b = segment2.a + segmentDirection.RotateCW90() * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular + direction;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular * 2 + direction;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular + direction * 2;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular * 2 + direction * 2;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin - segmentDirection;
segment2.b = segment2.a + segmentDirection * length;
True_IntersectPoint(segment1, segment2, origin);
segment2.a = origin + direction - segmentDirection;
segment2.b = segment2.a + segmentDirection * length;
True_IntersectPoint(segment1, segment2, origin + direction);
}
Vector2 diagonal = direction.RotateCW45();
for (int segmentAngle = 0; segmentAngle <= 180; segmentAngle += 15)
{
Vector2 segmentDirection = diagonal.RotateCW(segmentAngle);
segment2.a = origin + perpendicular - direction;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular * length - direction * length;
segment2.b = segment2.a + segmentDirection * length;
False_Intersect(segment1, segment2);
}
segment2.a = origin + perpendicular - direction - diagonal * 2;
segment2.b = segment2.a + diagonal * 4;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular - direction;
segment2.b = segment2.a + diagonal * 4;
False_Intersect(segment1, segment2);
segment2.a = origin + perpendicular + direction;
segment2.b = segment2.a + diagonal.RotateCW90() * 4;
False_Intersect(segment1, segment2);
}
}
}
/// <summary>
/// Calculates the intersection between two segments.
/// </summary>
/// <param name="a">The first segment.</param>
/// <param name="b">The second segment.</param>
/// <returns>The geometry resulting from the intersection.</returns>
public static IPlanarGeometry Intersection(Segment2 a, Segment2 b)
{
return(null == a || null == b
? null
: IntersectionDetails(a, b).Geometry);
}
public static bool NetSegmentRayCastMasked(NetSegment mysegment, ushort segmentID, Segment3 ray, float snapElevation, bool bothSides, out float t, out float priority)
{
bool lht = false;
//if (SimulationManager.instance.m_metaData.m_invertTraffic == SimulationMetaData.MetaBool.True) lht = true;
Debug.Log(mysegment.m_flags);
if ((mysegment.m_flags & NetSegment.Flags.Invert) != 0)
{
lht = true;
}
bool isMasked = false;
NetInfo info = mysegment.Info;
t = 0f;
priority = 0f;
Bounds bounds = mysegment.m_bounds;
bounds.Expand(16f);
if (!bounds.IntersectRay(new Ray(ray.a, ray.b - ray.a)))
{
return(false);
}
NetManager instance = Singleton <NetManager> .instance;
Bezier3 bezier = default(Bezier3);
bezier.a = instance.m_nodes.m_buffer[mysegment.m_startNode].m_position;
bezier.d = instance.m_nodes.m_buffer[mysegment.m_endNode].m_position;
bool result = false;
info.m_netAI.GetRayCastHeights(segmentID, ref mysegment, out float leftMin, out float rightMin, out float max);
bezier.a.y += max;
bezier.d.y += max;
bool flag = (instance.m_nodes.m_buffer[mysegment.m_startNode].m_flags & NetNode.Flags.Middle) != 0;
bool flag2 = (instance.m_nodes.m_buffer[mysegment.m_endNode].m_flags & NetNode.Flags.Middle) != 0;
NetSegment.CalculateMiddlePoints(bezier.a, mysegment.m_startDirection, bezier.d, mysegment.m_endDirection, flag, flag2, out bezier.b, out bezier.c);
float minNodeDistance = info.GetMinNodeDistance();
//
float collisionHalfWidth = info.m_halfWidth;
float maskHalfWidth = info.m_pavementWidth;
//
float num4 = (int)instance.m_nodes.m_buffer[mysegment.m_startNode].m_elevation;
float num5 = (int)instance.m_nodes.m_buffer[mysegment.m_endNode].m_elevation;
if (info.m_netAI.IsUnderground())
{
num4 = 0f - num4;
num5 = 0f - num5;
}
num4 += info.m_netAI.GetSnapElevation();
num5 += info.m_netAI.GetSnapElevation();
float a = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num4) / 12f));
float b2 = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num5) / 12f));
float am = Mathf.Lerp(minNodeDistance, maskHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num4) / 12f));
float b2m = Mathf.Lerp(minNodeDistance, maskHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num5) / 12f));
float num6 = Mathf.Min(leftMin, rightMin);
t = 1000000f;
priority = 1000000f;
Segment3 segment = default(Segment3);
segment.a = bezier.a;
Segment2 segment2 = default(Segment2);
Debug.Log($"mouse ray: {ray.a} --> {ray.b}");
Debug.Log($"segment direction: {bezier.a} --> {bezier.b}");
for (int i = 1; i <= 16; i++)
{
segment.b = bezier.Position((float)i / 16f);
float num7 = ray.DistanceSqr(segment, out float u2, out float v2);
float num8 = Mathf.Lerp(a, b2, ((float)(i - 1) + v2) / 16f);
float num8m = Mathf.Lerp(am, b2m, ((float)(i - 1) + v2) / 16f);
Vector3 vector2 = segment.Position(v2);
bool atOffsetSide = bothSides || IsTrafficHandSideOf(segment, ray, u2, lht);
if (atOffsetSide && num7 < priority && Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
Vector3 vector3 = ray.Position(u2);
num7 = Vector3.SqrMagnitude(vector3 - vector2);
//Debug.Log($"num7: {num7}, num8: {num8}, num8m: {num8m}");
if (num7 < priority && num7 < num8 * num8)
{
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs2 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs2)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs2.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
if (num7 < num8m * num8m)
{
isMasked = true;
}
}
}
if (atOffsetSide && num6 < max)
{
float num9 = vector2.y + num6 - max;
if (Mathf.Max(ray.a.y, ray.b.y) > num9 && Mathf.Min(ray.a.y, ray.b.y) < vector2.y)
{
float num10;
if (Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
segment2.a = VectorUtils.XZ(ray.Position(u2));
num10 = u2;
}
else
{
segment2.a = VectorUtils.XZ(ray.a);
num10 = 0f;
}
float num11;
if (Segment1.Intersect(ray.a.y, ray.b.y, num9, out u2))
{
segment2.b = VectorUtils.XZ(ray.Position(u2));
num11 = u2;
}
else
{
segment2.b = VectorUtils.XZ(ray.b);
num11 = 1f;
}
num7 = segment2.DistanceSqr(VectorUtils.XZ(vector2), out u2);
if (num7 < priority && num7 < num8 * num8)
{
u2 = num10 + (num11 - num10) * u2;
Vector3 lhs = ray.Position(u2);
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs3 = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs3)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs3.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs4 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs4)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs4.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
if (num7 < num8m * num8m)
{
isMasked = true;
}
}
}
}
segment.a = segment.b;
}
priority = Mathf.Max(0f, Mathf.Sqrt(priority) - collisionHalfWidth);
if (isMasked)
{
result = false;
}
return(result);
}
public void intersection_same() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(1, 1), new Point2(0, 0));
var res = a.Intersection(a);
AreSpatiallyEqual(a, res);
AreSpatiallyEqual(b, res);
res = b.Intersection(b);
AreSpatiallyEqual(a, res);
AreSpatiallyEqual(b, res);
res = a.Intersection(b);
AreSpatiallyEqual(a, res);
AreSpatiallyEqual(b, res);
res = b.Intersection(a);
AreSpatiallyEqual(a, res);
AreSpatiallyEqual(b, res);
}
public void perpendicular_not_intersecting() {
var a = new Segment2(new Point2(0, 1), new Point2(1, 0));
var b = new Segment2(new Point2(2, 2), new Point2(1, 1));
var res = a.Intersection(b);
Assert.Null(res);
res = b.Intersection(a);
Assert.Null(res);
}
public void ray_intersects_test() {
var a = new Segment2(new Point2(0, -1), new Point2(0, 1));
var b = new Ray2(new Point2(1, 1), new Vector2(1, 1));
var c = new Ray2(new Point2(1, 1), new Vector2(-1, -1));
var d = new Ray2(new Point2(0, 1), new Vector2(0, 1));
var e = new Ray2(new Point2(0, -1), new Vector2(0, -1));
var f = new Ray2(new Point2(0, 0), new Vector2(0, 3));
Assert.False(a.Intersects(b));
Assert.True(a.Intersects(c));
Assert.False(a.Intersects(new Ray2(new Point2(0, 2), new Vector2(0, 1))));
Assert.False(a.Intersects(new Ray2(new Point2(0, -2), new Vector2(0, -1))));
Assert.True(a.Intersects(d));
Assert.True(a.Intersects(d.GetReverse()));
Assert.True(a.Intersects(e));
Assert.True(a.Intersects(e.GetReverse()));
Assert.True(a.Intersects(f));
Assert.True(a.Intersects(f.GetReverse()));
}
public void intersection_overlap() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(.5, .5), new Point2(2, 2));
var exp = new Segment2(new Point2(.5, .5), new Point2(1, 1));
var res = a.Intersection(b);
Assert.Equal(exp, res);
res = b.Intersection(a);
Assert.Equal(exp, res);
}
public void raw_intersection_result() {
var a = new Segment2(new Point2(0, -1), new Point2(0, 1));
var b = new Ray2(new Point2(1, 1), new Vector2(1, 1));
var c = new Ray2(new Point2(1, 1), new Vector2(-1, -1));
var d = new Ray2(new Point2(0, 1), new Vector2(0, 1));
var e = new Ray2(new Point2(0, -1), new Vector2(0, -1));
var f = new Ray2(new Point2(0, 0), new Vector2(0, 3));
Assert.Equal(null, a.Intersection(b));
Assert.Equal(new Point2(0, 0), a.Intersection(c));
Assert.Equal(null, a.Intersection(new Ray2(new Point2(0, 2), new Vector2(0, 1))));
Assert.Equal(null, a.Intersection(new Ray2(new Point2(0, -2), new Vector2(0, -1))));
Assert.Equal(new Point2(0, 1), a.Intersection(d));
Assert.Equal(a, a.Intersection(d.GetReverse()));
Assert.Equal(new Point2(0, -1), a.Intersection(e));
Assert.Equal(a, a.Intersection(e.GetReverse()));
Assert.Equal(new Segment2(f.P, a.B), a.Intersection(f));
Assert.Equal(new Segment2(a.A, f.P), a.Intersection(f.GetReverse()));
}
public void line_intersects_test() {
var a = new Segment2(new Point2(0, -1), new Point2(0, 1));
var b = new Line2(new Point2(1, 1), new Vector2(1, 1));
var c = new Line2(new Point2(1, 1), new Vector2(0, 1));
var d = new Line2(new Point2(0, 0), new Vector2(0, 1));
var e = new Line2(new Point2(0, -2), new Vector2(1, 1));
Assert.True(a.Intersects(b));
Assert.False(a.Intersects(c));
Assert.True(a.Intersects(d));
Assert.False(a.Intersects(e));
}
public void line_intersection_result() {
var a = new Segment2(new Point2(0, -1), new Point2(0, 1));
var b = new Line2(new Point2(1, 1), new Vector2(1, 1));
var c = new Line2(new Point2(1, 1), new Vector2(0, 1));
var d = new Line2(new Point2(0, 0), new Vector2(0, 1));
Assert.Equal(new Point2(0, 0), a.Intersection(b));
Assert.Equal(null, a.Intersection(c));
Assert.Equal(a, a.Intersection(d));
}
private void IsTrue_Intersect(Ray2D ray, Segment2 segment, out IntersectionRaySegment2 intersection)
{
Assert.IsTrue(Geometry.IntersectRaySegment(ray.origin, ray.direction, segment.a, segment.b, out intersection),
ray.ToString("F8") + "\n" + segment.ToString("F8"));
}
public void direction() {
var u = new Segment2(new Point2(2, 1), new Point2(-1, 3));
Assert.Equal(new Vector2(-3, 2), u.Direction);
}
public void constructor_elements() {
var s = new Segment2(new Point2(0, 0), new Point2(2, 3));
Assert.Equal(new Point2(0, 0), s.A);
Assert.Equal(new Point2(2, 3), s.B);
}
public void magnitude() {
var s = new Segment2(new Point2(1, 2), new Vector2(3, 4));
Assert.Equal(Math.Sqrt(9 + 16), s.GetMagnitude());
}
private void AreEqual_ClosestPoints(Segment2 segment, Circle2 circle, Vector2 expectedSegmentA, Vector2 expectedSegmentB,
Vector2 expectedCircle)
{
AreEqual_ClosestPoints(segment, circle, expectedSegmentA, expectedSegmentB, expectedCircle, expectedCircle);
}
public void magnitude_squared() {
var s = new Segment2(new Point2(1, 2), new Vector2(3, 4));
Assert.Equal(9 + 16, s.GetMagnitudeSquared());
}
public static bool RayCast(ref NetSegment mysegment, ushort segmentID, Segment3 ray, float snapElevation, bool nameOnly, out float t, out float priority)
{
if (CSUROffset.IsCSUROffset(mysegment.Info.m_netAI.m_info))
{
return(NetSegmentRayCastMasked(mysegment, segmentID, ray, -1000f, false, out t, out priority));
}
NetInfo info = mysegment.Info;
t = 0f;
priority = 0f;
if (nameOnly && (mysegment.m_flags & NetSegment.Flags.NameVisible2) == NetSegment.Flags.None)
{
return(false);
}
Bounds bounds = mysegment.m_bounds;
bounds.Expand(16f);
if (!bounds.IntersectRay(new Ray(ray.a, ray.b - ray.a)))
{
return(false);
}
NetManager instance = Singleton <NetManager> .instance;
Bezier3 bezier = default(Bezier3);
bezier.a = instance.m_nodes.m_buffer[mysegment.m_startNode].m_position;
bezier.d = instance.m_nodes.m_buffer[mysegment.m_endNode].m_position;
bool result = false;
if (nameOnly)
{
RenderManager instance2 = Singleton <RenderManager> .instance;
if (instance2.GetInstanceIndex((uint)(49152 + segmentID), out uint instanceIndex))
{
InstanceManager.NameData nameData = instance2.m_instances[instanceIndex].m_nameData;
Vector3 position = instance2.m_instances[instanceIndex].m_position;
Matrix4x4 dataMatrix = instance2.m_instances[instanceIndex].m_dataMatrix2;
float num = Vector3.Distance(position, ray.a);
if (nameData != null && num < 1000f)
{
float snapElevation2 = info.m_netAI.GetSnapElevation();
bezier.a.y += snapElevation2;
bezier.d.y += snapElevation2;
NetSegment.CalculateMiddlePoints(bezier.a, mysegment.m_startDirection, bezier.d, mysegment.m_endDirection, true, true, out bezier.b, out bezier.c);
float num2 = Mathf.Max(1f, Mathf.Abs(dataMatrix.m33 - dataMatrix.m30));
float d = num * 0.0002f + 0.05f / (1f + num * 0.001f);
Vector2 vector = nameData.m_size * d;
float t2 = Mathf.Max(0f, 0.5f - vector.x / num2 * 0.5f);
float t3 = Mathf.Min(1f, 0.5f + vector.x / num2 * 0.5f);
bezier = bezier.Cut(t2, t3);
float num3 = bezier.DistanceSqr(ray, out float u, out float _);
if (num3 < vector.y * vector.y * 0.25f)
{
Vector3 b = bezier.Position(u);
if (Segment1.Intersect(ray.a.y, ray.b.y, b.y, out u))
{
num3 = Vector3.SqrMagnitude(ray.Position(u) - b);
if (num3 < vector.y * vector.y * 0.25f)
{
t = u;
result = true;
}
}
}
}
}
}
else
{
info.m_netAI.GetRayCastHeights(segmentID, ref mysegment, out float leftMin, out float rightMin, out float max);
bezier.a.y += max;
bezier.d.y += max;
bool flag = (instance.m_nodes.m_buffer[mysegment.m_startNode].m_flags & NetNode.Flags.Middle) != NetNode.Flags.None;
bool flag2 = (instance.m_nodes.m_buffer[mysegment.m_endNode].m_flags & NetNode.Flags.Middle) != NetNode.Flags.None;
NetSegment.CalculateMiddlePoints(bezier.a, mysegment.m_startDirection, bezier.d, mysegment.m_endDirection, flag, flag2, out bezier.b, out bezier.c);
float minNodeDistance = info.GetMinNodeDistance();
float collisionHalfWidth = info.m_netAI.GetCollisionHalfWidth();
float num4 = (float)(int)instance.m_nodes.m_buffer[mysegment.m_startNode].m_elevation;
float num5 = (float)(int)instance.m_nodes.m_buffer[mysegment.m_endNode].m_elevation;
if (info.m_netAI.IsUnderground())
{
num4 = 0f - num4;
num5 = 0f - num5;
}
num4 += info.m_netAI.GetSnapElevation();
num5 += info.m_netAI.GetSnapElevation();
float a = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num4) / 12f));
float b2 = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num5) / 12f));
float num6 = Mathf.Min(leftMin, rightMin);
t = 1000000f;
priority = 1000000f;
Segment3 segment = default(Segment3);
segment.a = bezier.a;
for (int i = 1; i <= 16; i++)
{
segment.b = bezier.Position((float)i / 16f);
float num7 = ray.DistanceSqr(segment, out float u2, out float v2);
float num8 = Mathf.Lerp(a, b2, ((float)(i - 1) + v2) / 16f);
Vector3 vector2 = segment.Position(v2);
if (num7 < priority && Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
Vector3 vector3 = ray.Position(u2);
num7 = Vector3.SqrMagnitude(vector3 - vector2);
if (num7 < priority && num7 < num8 * num8)
{
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs2 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs2)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs2.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
}
}
if (num6 < max)
{
float num9 = vector2.y + num6 - max;
if (Mathf.Max(ray.a.y, ray.b.y) > num9 && Mathf.Min(ray.a.y, ray.b.y) < vector2.y)
{
Segment2 segment2 = default(Segment2);
float num10;
if (Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
segment2.a = VectorUtils.XZ(ray.Position(u2));
num10 = u2;
}
else
{
segment2.a = VectorUtils.XZ(ray.a);
num10 = 0f;
}
float num11;
if (Segment1.Intersect(ray.a.y, ray.b.y, num9, out u2))
{
segment2.b = VectorUtils.XZ(ray.Position(u2));
num11 = u2;
}
else
{
segment2.b = VectorUtils.XZ(ray.b);
num11 = 1f;
}
num7 = segment2.DistanceSqr(VectorUtils.XZ(vector2), out u2);
if (num7 < priority && num7 < num8 * num8)
{
u2 = num10 + (num11 - num10) * u2;
Vector3 lhs = ray.Position(u2);
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs3 = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs3)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs3.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs4 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs4)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs4.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
}
}
}
segment.a = segment.b;
}
priority = Mathf.Max(0f, Mathf.Sqrt(priority) - collisionHalfWidth);
}
return(result);
}
public void centroid() {
var s = new Segment2(new Point2(1, 2), new Vector2(3, 4));
Assert.Equal(new Point2(1 + (3.0 / 2.0), 2 + (4 / 2)), s.GetCentroid());
}
public void Distance_Diagonal()
{
var segment1 = new Segment2();
var segment2 = new Segment2();
foreach (var origin in originPoints2)
{
foreach (var direction in directionPoints2)
{
Vector2 perpendicular = direction.RotateCW90();
segment1.a = origin;
segment1.b = origin + direction * 10;
for (int segmentAngle = 15; segmentAngle < 180; segmentAngle += 15)
{
Vector2 segmentDirection = direction.RotateCW(segmentAngle);
segment2.a = origin;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2);
segment2.a = origin + direction;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2);
segment2.a = origin - direction;
segment2.b = segment2.a + segmentDirection.RotateCW90() * length;
AreEqual_Distance(segment1, segment2, 1);
segment2.a = origin + perpendicular;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, 1);
segment2.a = origin + perpendicular + direction;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, 1);
segment2.a = origin + perpendicular * 2 + direction;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, 2);
segment2.a = origin + perpendicular + direction * 2;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, 1);
segment2.a = origin + perpendicular * 2 + direction * 2;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, 2);
segment2.a = origin - segmentDirection;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2);
segment2.a = origin + direction - segmentDirection;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2);
}
Vector2 diagonal = direction.RotateCW45();
for (int segmentAngle = 0; segmentAngle <= 180; segmentAngle += 15)
{
Vector2 segmentDirection = diagonal.RotateCW(segmentAngle);
segment2.a = origin + perpendicular - direction;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, PTUtils.Sqrt2);
segment2.a = origin + perpendicular * length - direction * length;
segment2.b = segment2.a + segmentDirection * length;
AreEqual_Distance(segment1, segment2, PTUtils.Sqrt2 * length);
}
segment2.a = origin + perpendicular - direction - diagonal * 2;
segment2.b = segment2.a + diagonal * 4;
AreEqual_Distance(segment1, segment2, PTUtils.Sqrt2);
segment2.a = origin + perpendicular - direction;
segment2.b = segment2.a + diagonal * 4;
AreEqual_Distance(segment1, segment2, PTUtils.Sqrt2);
segment2.a = origin + perpendicular + direction;
segment2.b = segment2.a + diagonal.RotateCW90() * 4;
AreEqual_Distance(segment1, segment2, 1);
}
}
}
private void False_Intersect(Segment2 segment, Circle2 circle)
{
Assert.False(Intersect.SegmentCircle(segment.a, segment.b, circle.center, circle.radius, out _), format, segment, circle);
Assert.False(Intersect.SegmentCircle(segment.b, segment.a, circle.center, circle.radius, out _), format, segment, circle);
}
private void AreEqual_ClosestPoints(Segment2 segment1, Segment2 segment2, Vector2 expected1, Vector2 expected2)
{
AreEqual_ClosestPoints(segment1, segment2, expected1, expected2, expected2, expected1);
}
public static void segment_ray_intersection_result()
{
var a1 = new Segment2(A, B);
var a2 = new Segment2(B, A);
var b = new Ray2(C, D);
var forward1 = a1.Intersection(b);
var forward2 = a2.Intersection(b);
var reverse1 = b.Intersection(a1);
var reverse2 = b.Intersection(a2);
forward1.Should().NotBeNull();
forward1.Should().Be(forward2);
forward1.Should().Be(reverse1);
forward1.Should().Be(reverse2);
}
private void True_IntersectSegment(Segment2 segment1, Segment2 segment2, Vector2 expectedA, Vector2 expectedB)
{
True_IntersectSegment(segment1, segment2, expectedA, expectedB, expectedA, expectedB);
}
/// <summary>
/// Calculates the intersection between two segments.
/// </summary>
/// <param name="a">The first segment.</param>
/// <param name="b">The second segment.</param>
/// <returns>The detailed result of the intersection.</returns>
public static IResult IntersectionDetails(Segment2 a, Segment2 b) {
Contract.Ensures(Contract.Result<IResult>() != null);
if (null == a || null == b)
return DefaultNoIntersection;
return IntersectionDetails(a.A, a.B, b.A, b.B);
}
public void Intersect_Diagonal()
{
float length = 3;
var ray = new Ray2D();
var segment = new Segment2();
foreach (var origin in originPoints2)
{
foreach (var direction in directionPoints2)
{
Vector2 perpendicular = direction.RotateCW90();
ray.origin = origin;
ray.direction = direction;
for (int segmentAngle = 15; segmentAngle < 180; segmentAngle += 15)
{
Vector2 segmentDirection = direction.RotateCW(segmentAngle);
segment.a = origin;
segment.b = segment.a + segmentDirection * length;
IsTrue_IntersectPoint(ray, segment, segment.a);
segment.a = origin + direction;
segment.b = segment.a + segmentDirection * length;
IsTrue_IntersectPoint(ray, segment, segment.a);
segment.a = origin - direction;
segment.b = segment.a + segmentDirection.RotateCW90() * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular + direction;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular * 2 + direction;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular + direction * 2;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular * 2 + direction * 2;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin - segmentDirection;
segment.b = segment.a + segmentDirection * length;
IsTrue_IntersectPoint(ray, segment, origin);
segment.a = origin + direction - segmentDirection;
segment.b = segment.a + segmentDirection * length;
IsTrue_IntersectPoint(ray, segment, origin + direction);
}
Vector2 diagonal = direction.RotateCW45();
for (int segmentAngle = 0; segmentAngle <= 180; segmentAngle += 15)
{
Vector2 segmentDirection = diagonal.RotateCW(segmentAngle);
segment.a = origin + perpendicular - direction;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular * length - direction * length;
segment.b = segment.a + segmentDirection * length;
IsFalse_Intersect(ray, segment);
}
segment.a = origin + perpendicular - direction - diagonal * 2;
segment.b = segment.a + diagonal * 4;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular - direction;
segment.b = segment.a + diagonal * 4;
IsFalse_Intersect(ray, segment);
segment.a = origin + perpendicular + direction;
segment.b = segment.a + diagonal.RotateCW90() * 4;
IsFalse_Intersect(ray, segment);
}
}
}
public void intersection_within() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(-.5, -.5), new Point2(2, 2));
var res = SegmentIntersectionOperation.IntersectionDetails(a, b) as SegmentIntersectionOperation.SegmentResult;
Assert.Equal(a, res.S);
Assert.Equal(new Vector2(0, .2), res.A.Ratios);
Assert.Equal(1, res.B.S);
Assert.Equal(.6, res.B.T, 10);
res = SegmentIntersectionOperation.IntersectionDetails(b, a) as SegmentIntersectionOperation.SegmentResult;
Assert.Equal(a, res.S);
Assert.Equal(new Vector2(.2, 0), res.A.Ratios);
Assert.Equal(.6, res.B.S, 10);
Assert.Equal(1, res.B.T);
}
private void IsFalse_Intersect_Perpendicular(Ray2D ray, Vector2 perpendicular, Vector2 offset)
{
var segment = new Segment2(-perpendicular + offset, perpendicular + offset);
IsFalse_Intersect(ray, segment);
}
public void intersection_cross_ends() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(0.5, 1.5), new Point2(1, 1));
var res = a.Intersection(b);
Assert.Equal(new Point2(1, 1), res);
res = b.Intersection(a);
Assert.Equal(new Point2(1, 1), res);
}
private void AreEqual_ClosestPoint(Segment2 segment, Vector2 point)
{
AreEqual_ClosestPoint(segment, point, point);
}
private void IsTrue_Intersect(Line2 line, Segment2 segment, out IntersectionLineSegment2 intersection)
{
Assert.IsTrue(Geometry.IntersectLineSegment(line.origin, line.direction, segment.a, segment.b, out intersection),
line.ToString("F8") + "\n" + segment.ToString("F8"));
}
protected void DrawSegment(ref Segment2 segment)
{
Gizmos.DrawLine(segment.P0, segment.P1);
}
public void intersection_within() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(-.5, -.5), new Point2(2, 2));
var res = a.Intersection(b);
Assert.Equal(a, res);
res = b.Intersection(a);
Assert.Equal(a, res);
}
/// <summary>
/// Calculates the intersection between two segments.
/// </summary>
/// <param name="a">The first segment.</param>
/// <param name="b">The second segment.</param>
/// <returns>The geometry resulting from the intersection.</returns>
public static IPlanarGeometry Intersection(Segment2 a, Segment2 b) {
return null == a || null == b
? null
: IntersectionDetails(a, b).Geometry;
}
public static bool Prefix(ref NetSegment __instance, ushort segmentID, Segment3 ray, float snapElevation, bool nameOnly, out float t, out float priority, ref bool __result)
{
// NON-STOCK CODE STARTS
float laneOffset = 0;
float startOffset = 0;
float endOffset = 0;
bool IsCSURSLane = CSURUtil.IsCSURSLane(__instance.Info.m_netAI.m_info, ref laneOffset, ref startOffset, ref endOffset);
if (CSURUtil.IsCSUROffset(__instance.Info.m_netAI.m_info) && !IsCSURSLane)
{
__result = NetSegmentRayCastMasked(__instance, segmentID, ray, -1000f, false, out t, out priority);
return(false);
}
// NON-STOCK CODE ENDS
NetInfo info = __instance.Info;
t = 0f;
priority = 0f;
if (nameOnly && (__instance.m_flags & NetSegment.Flags.NameVisible2) == NetSegment.Flags.None)
{
__result = false;
return(false);
}
Bounds bounds = __instance.m_bounds;
bounds.Expand(16f);
if (!bounds.IntersectRay(new Ray(ray.a, ray.b - ray.a)))
{
__result = false;
return(false);
}
NetManager instance = Singleton <NetManager> .instance;
Bezier3 bezier = default(Bezier3);
bezier.a = instance.m_nodes.m_buffer[__instance.m_startNode].m_position;
bezier.d = instance.m_nodes.m_buffer[__instance.m_endNode].m_position;
bool result = false;
if (nameOnly)
{
RenderManager instance2 = Singleton <RenderManager> .instance;
if (instance2.GetInstanceIndex((uint)(49152 + segmentID), out uint instanceIndex))
{
InstanceManager.NameData nameData = instance2.m_instances[instanceIndex].m_nameData;
Vector3 position = instance2.m_instances[instanceIndex].m_position;
Matrix4x4 dataMatrix = instance2.m_instances[instanceIndex].m_dataMatrix2;
float num = Vector3.Distance(position, ray.a);
if (nameData != null && num < 1000f)
{
float snapElevation2 = info.m_netAI.GetSnapElevation();
bezier.a.y += snapElevation2;
bezier.d.y += snapElevation2;
NetSegment.CalculateMiddlePoints(bezier.a, __instance.m_startDirection, bezier.d, __instance.m_endDirection, true, true, out bezier.b, out bezier.c);
float num2 = Mathf.Max(1f, Mathf.Abs(dataMatrix.m33 - dataMatrix.m30));
float d = num * 0.0002f + 0.05f / (1f + num * 0.001f);
Vector2 vector = nameData.m_size * d;
float t2 = Mathf.Max(0f, 0.5f - vector.x / num2 * 0.5f);
float t3 = Mathf.Min(1f, 0.5f + vector.x / num2 * 0.5f);
bezier = bezier.Cut(t2, t3);
float num3 = bezier.DistanceSqr(ray, out float u, out float _);
if (num3 < vector.y * vector.y * 0.25f)
{
Vector3 b = bezier.Position(u);
if (Segment1.Intersect(ray.a.y, ray.b.y, b.y, out u))
{
num3 = Vector3.SqrMagnitude(ray.Position(u) - b);
if (num3 < vector.y * vector.y * 0.25f)
{
t = u;
result = true;
}
}
}
}
}
}
else
{
info.m_netAI.GetRayCastHeights(segmentID, ref __instance, out float leftMin, out float rightMin, out float max);
bezier.a.y += max;
bezier.d.y += max;
bool flag = (instance.m_nodes.m_buffer[__instance.m_startNode].m_flags & NetNode.Flags.Middle) != NetNode.Flags.None;
bool flag2 = (instance.m_nodes.m_buffer[__instance.m_endNode].m_flags & NetNode.Flags.Middle) != NetNode.Flags.None;
NetSegment.CalculateMiddlePoints(bezier.a, __instance.m_startDirection, bezier.d, __instance.m_endDirection, flag, flag2, out bezier.b, out bezier.c);
// NON-STOCK CODE STARTS
if (IsCSURSLane)
{
float vehicleLaneNum = CSURUtil.CountCSURSVehicleLanes(info);
float otherLaneNum = CSURUtil.CountCSURSOtherLanes(info);
float laneNum = vehicleLaneNum + otherLaneNum;
startOffset = startOffset * 3.75f - laneNum * 1.875f + 1.875f + otherLaneNum * 3.75f;
endOffset = endOffset * 3.75f - laneNum * 1.875f + 1.875f + otherLaneNum * 3.75f;
if ((__instance.m_flags & NetSegment.Flags.Invert) != 0)
{
startOffset = -startOffset;
endOffset = -endOffset;
}
//EG: before patch: point1-point4 is 1.5*3.75
//After patch, point1-point4 is (1 1.3333 1.6667 2)*3.75
Vector3 newBezierA = bezier.a + (new Vector3(__instance.m_startDirection.z, 0, -__instance.m_startDirection.x).normalized) * (startOffset);
Vector3 newBezierBDir = VectorUtils.NormalizeXZ(bezier.Tangent(0.333f));
Vector3 newBezierB = bezier.b + (new Vector3(newBezierBDir.z, 0, -newBezierBDir.x).normalized) * (startOffset * 0.667f + endOffset * 0.333f);
Vector3 newBezierCDir = VectorUtils.NormalizeXZ(bezier.Tangent(0.667f));
Vector3 newBezierC = bezier.c + (new Vector3(newBezierCDir.z, 0, -newBezierCDir.x).normalized) * (startOffset * 0.333f + endOffset * 0.667f);
Vector3 newBezierD = bezier.d + (new Vector3(-__instance.m_endDirection.z, 0, __instance.m_endDirection.x).normalized) * (endOffset);
bezier.a = newBezierA;
bezier.b = newBezierB;
bezier.c = newBezierC;
bezier.d = newBezierD;
}
float minNodeDistance = info.GetMinNodeDistance();
float collisionHalfWidth = info.m_netAI.GetCollisionHalfWidth();
float num4 = (float)(int)instance.m_nodes.m_buffer[__instance.m_startNode].m_elevation;
float num5 = (float)(int)instance.m_nodes.m_buffer[__instance.m_endNode].m_elevation;
if (info.m_netAI.IsUnderground())
{
num4 = 0f - num4;
num5 = 0f - num5;
}
num4 += info.m_netAI.GetSnapElevation();
num5 += info.m_netAI.GetSnapElevation();
float a = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num4) / 12f));
float b2 = Mathf.Lerp(minNodeDistance, collisionHalfWidth, Mathf.Clamp01(Mathf.Abs(snapElevation - num5) / 12f));
float num6 = Mathf.Min(leftMin, rightMin);
t = 1000000f;
priority = 1000000f;
Segment3 segment = default(Segment3);
segment.a = bezier.a;
for (int i = 1; i <= 16; i++)
{
segment.b = bezier.Position((float)i / 16f);
float num7 = ray.DistanceSqr(segment, out float u2, out float v2);
float num8 = Mathf.Lerp(a, b2, ((float)(i - 1) + v2) / 16f);
Vector3 vector2 = segment.Position(v2);
if (num7 < priority && Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
Vector3 vector3 = ray.Position(u2);
num7 = Vector3.SqrMagnitude(vector3 - vector2);
if (num7 < priority && num7 < num8 * num8)
{
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs2 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(vector3, rhs2)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs2.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
}
}
if (num6 < max)
{
float num9 = vector2.y + num6 - max;
if (Mathf.Max(ray.a.y, ray.b.y) > num9 && Mathf.Min(ray.a.y, ray.b.y) < vector2.y)
{
Segment2 segment2 = default(Segment2);
float num10;
if (Segment1.Intersect(ray.a.y, ray.b.y, vector2.y, out u2))
{
segment2.a = VectorUtils.XZ(ray.Position(u2));
num10 = u2;
}
else
{
segment2.a = VectorUtils.XZ(ray.a);
num10 = 0f;
}
float num11;
if (Segment1.Intersect(ray.a.y, ray.b.y, num9, out u2))
{
segment2.b = VectorUtils.XZ(ray.Position(u2));
num11 = u2;
}
else
{
segment2.b = VectorUtils.XZ(ray.b);
num11 = 1f;
}
num7 = segment2.DistanceSqr(VectorUtils.XZ(vector2), out u2);
if (num7 < priority && num7 < num8 * num8)
{
u2 = num10 + (num11 - num10) * u2;
Vector3 lhs = ray.Position(u2);
if (flag && i == 1 && v2 < 0.001f)
{
Vector3 rhs3 = segment.a - segment.b;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs3)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs3.sqrMagnitude * ray.LengthSqr()));
}
if (flag2 && i == 16 && v2 > 0.999f)
{
Vector3 rhs4 = segment.b - segment.a;
u2 += Mathf.Max(0f, Vector3.Dot(lhs, rhs4)) / Mathf.Max(0.001f, Mathf.Sqrt(rhs4.sqrMagnitude * ray.LengthSqr()));
}
priority = num7;
t = u2;
result = true;
}
}
}
segment.a = segment.b;
}
priority = Mathf.Max(0f, Mathf.Sqrt(priority) - collisionHalfWidth);
}
__result = result;
return(false);
}
public void intersection_overlap() {
var a = new Segment2(new Point2(0, 0), new Point2(1, 1));
var b = new Segment2(new Point2(.5, .5), new Point2(2, 2));
var exp = new Segment2(new Point2(.5, .5), new Point2(1, 1));
var res = SegmentIntersectionOperation.IntersectionDetails(a, b) as SegmentIntersectionOperation.SegmentResult;
Assert.Equal(exp, res.S);
Assert.Equal(new Vector2(.5, 0), res.A.Ratios);
Assert.Equal(new Vector2(1, 1 / 3.0), res.B.Ratios);
res = SegmentIntersectionOperation.IntersectionDetails(b, a) as SegmentIntersectionOperation.SegmentResult;
Assert.Equal(exp, res.S);
Assert.Equal(new Vector2(0, .5), res.A.Ratios);
Assert.Equal(new Vector2(1 / 3.0, 1), res.B.Ratios);
}
private void AreEqual_ClosestPoints(Line2 line, Segment2 segment, Vector2 expected)
{
AreEqual_ClosestPoints(line, segment, expected, expected);
}
public void no_intersection_perpendicular() {
var a = new Segment2(new Point2(0, 1), new Point2(1, 0));
var b = new Segment2(new Point2(2, 2), new Point2(1, 1));
var res = SegmentIntersectionOperation.IntersectionDetails(a, b);
Assert.Null(res.Geometry);
res = SegmentIntersectionOperation.IntersectionDetails(b, a);
Assert.Null(res.Geometry);
}
private void IsFalse_Intersect(Line2 line, Segment2 segment)
{
Assert.IsFalse(Intersect.LineSegment(line.origin, line.direction, segment.a, segment.b, out _), format, line, segment);
Assert.IsFalse(Intersect.LineSegment(line.origin, line.direction, segment.b, segment.a, out _), format, line, segment);
}
private void AreEqual_ClosestPoints(Segment2 segment, Circle2 circle, Vector2 expected)
{
AreEqual_ClosestPoints(segment, circle, expected, expected, expected);
}
private void IsFalse_Intersect_Perpendicular(Line2 line, Vector2 perpendicular, Vector2 offset)
{
var segment = new Segment2(-perpendicular + offset, perpendicular + offset);
IsFalse_Intersect(line, segment);
}
