private void CalcVectors(float[] ObjVertexes, int[] ObjTriangles, float[] N)
{
int num = ObjTriangles.Length / 3;
for (int index1 = 0; index1 < num; ++index1)
{
int index2 = 3 * index1;
floatVector floatVector1 = new floatVector(ObjVertexes[3 * ObjTriangles[index2]], ObjVertexes[3 * ObjTriangles[index2] + 1], ObjVertexes[3 * ObjTriangles[index2] + 2]);
floatVector floatVector2 = new floatVector(ObjVertexes[3 * ObjTriangles[index2 + 1]], ObjVertexes[3 * ObjTriangles[index2 + 1] + 1], ObjVertexes[3 * ObjTriangles[index2 + 1] + 2]);
floatVector floatVector3d = new floatVector(ObjVertexes[3 * ObjTriangles[index2 + 2]], ObjVertexes[3 * ObjTriangles[index2 + 2] + 1], ObjVertexes[3 * ObjTriangles[index2 + 2] + 2]);
floatVector v1 = floatVector2 - floatVector1;
floatVector v2 = floatVector3d - floatVector1;
floatVector floatVector4 = floatVector.CrossProduct(v1, v2);
floatVector4.normalize();
v1.normalize();
v2.normalize();
N[index2] = floatVector4.x;
N[index2 + 1] = floatVector4.y;
N[index2 + 2] = floatVector4.z;
}
}
private bool RetaCruzaTriangulo(floatVector A, floatVector B, floatVector C, floatVector D, floatVector E)
{
floatVector floatVector1 = B - A;
floatVector floatVector2 = D - C;
floatVector floatVector3 = E - C;
float num1 = (float)((double)floatVector2.x * (double)floatVector3.y * (double)floatVector1.z - (double)floatVector2.x * (double)floatVector1.y * (double)floatVector3.z - (double)floatVector2.y * (double)floatVector3.x * (double)floatVector1.z + (double)floatVector2.y * (double)floatVector1.x * (double)floatVector3.z + (double)floatVector2.z * (double)floatVector3.x * (double)floatVector1.y - (double)floatVector2.z * (double)floatVector1.x * (double)floatVector3.y);
if ((double)num1 == 0.0)
{
return(false);
}
float num2 = -1f / num1;
float[,] numArray = new float[3, 3]
{
{
(float)(-(double)floatVector3.y * (double)floatVector1.z + (double)floatVector3.z * (double)floatVector1.y),
(float)(-(double)floatVector3.z * (double)floatVector1.x + (double)floatVector1.z * (double)floatVector3.x),
(float)((double)floatVector3.y * (double)floatVector1.x - (double)floatVector3.x * (double)floatVector1.y)
},
{
(float)((double)floatVector2.y * (double)floatVector1.z - (double)floatVector2.z * (double)floatVector1.y),
(float)((double)floatVector2.z * (double)floatVector1.x - (double)floatVector1.z * (double)floatVector2.x),
(float)(-(double)floatVector2.y * (double)floatVector1.x + (double)floatVector2.x * (double)floatVector1.y)
},
{
(float)((double)floatVector2.y * (double)floatVector3.z - (double)floatVector2.z * (double)floatVector3.y),
(float)((double)floatVector2.z * (double)floatVector3.x - (double)floatVector3.z * (double)floatVector2.x),
(float)(-(double)floatVector2.y * (double)floatVector3.x + (double)floatVector2.x * (double)floatVector3.y)
}
};
float num3 = (float)((double)numArray[0, 0] * ((double)A.x - (double)C.x) + (double)numArray[0, 1] * ((double)A.y - (double)C.y) + (double)numArray[0, 2] * ((double)A.z - (double)C.z));
float num4 = (float)((double)numArray[1, 0] * ((double)A.x - (double)C.x) + (double)numArray[1, 1] * ((double)A.y - (double)C.y) + (double)numArray[1, 2] * ((double)A.z - (double)C.z));
float num5 = (float)((double)numArray[2, 0] * ((double)A.x - (double)C.x) + (double)numArray[2, 1] * ((double)A.y - (double)C.y) + (double)numArray[2, 2] * ((double)A.z - (double)C.z));
float num6 = num3 * num2;
float num7 = num4 * num2;
float num8 = num5 * num2;
return(0.0 <= (double)num8 && (double)num8 <= 1.0 && ((double)num6 >= 0.0 && (double)num7 >= 0.0) && (double)num6 + (double)num7 <= 1.0);
}
private void CalcExactCollision(float[] Obj1Vertexes, int[] Obj1Triangles, float[] Obj2Vertexes, int[] Obj2Triangles, int[] numCollisions)
{
int num1 = Obj1Triangles.Length / 3;
int num2 = Obj2Triangles.Length / 3;
for (int index1 = 0; index1 < num1; ++index1)
{
for (int index2 = 0; index2 < num2; ++index2)
{
int index3 = 3 * index1;
int index4 = 3 * index2;
floatVector floatVector1 = new floatVector(Obj1Vertexes[3 * Obj1Triangles[index3]], Obj1Vertexes[3 * Obj1Triangles[index3] + 1], Obj1Vertexes[3 * Obj1Triangles[index3] + 2]);
floatVector floatVector2 = new floatVector(Obj1Vertexes[3 * Obj1Triangles[index3 + 1]], Obj1Vertexes[3 * Obj1Triangles[index3 + 1] + 1], Obj1Vertexes[3 * Obj1Triangles[index3 + 1] + 2]);
floatVector floatVector3 = new floatVector(Obj1Vertexes[3 * Obj1Triangles[index3 + 2]], Obj1Vertexes[3 * Obj1Triangles[index3 + 2] + 1], Obj1Vertexes[3 * Obj1Triangles[index3 + 2] + 2]);
floatVector floatVector4 = new floatVector(Obj2Vertexes[3 * Obj2Triangles[index4]], Obj2Vertexes[3 * Obj2Triangles[index4] + 1], Obj2Vertexes[3 * Obj2Triangles[index4] + 2]);
floatVector floatVector5 = new floatVector(Obj2Vertexes[3 * Obj2Triangles[index4 + 1]], Obj2Vertexes[3 * Obj2Triangles[index4 + 1] + 1], Obj2Vertexes[3 * Obj2Triangles[index4 + 1] + 2]);
floatVector floatVector6 = new floatVector(Obj2Vertexes[3 * Obj2Triangles[index4 + 2]], Obj2Vertexes[3 * Obj2Triangles[index4 + 2] + 1], Obj2Vertexes[3 * Obj2Triangles[index4 + 2] + 2]);
if (numCollisions[0] <= 0 && this.RetaCruzaTriangulo(floatVector1, floatVector2, floatVector4, floatVector5, floatVector6))
{
++numCollisions[0];
}
if (numCollisions[0] <= 0 && this.RetaCruzaTriangulo(floatVector1, floatVector3, floatVector4, floatVector5, floatVector6))
{
++numCollisions[0];
}
if (numCollisions[0] <= 0 && this.RetaCruzaTriangulo(floatVector2, floatVector3, floatVector4, floatVector5, floatVector6))
{
++numCollisions[0];
}
if (numCollisions[0] <= 0 && this.RetaCruzaTriangulo(floatVector4, floatVector5, floatVector1, floatVector2, floatVector3))
{
++numCollisions[0];
}
if (numCollisions[0] <= 0 && this.RetaCruzaTriangulo(floatVector4, floatVector6, floatVector1, floatVector2, floatVector3))
{
++numCollisions[0];
}
}
}
}
private void CalcCollision(float[] CollisionDistance, float[] MovingObjVertexes, float[] ObjVertexes, int[] ObjTriangles, float[] N, int[] MovingObjCollisions, float[] MovingObjDistances)
{
int num1 = MovingObjVertexes.Length / 3;
int num2 = ObjTriangles.Length / 3;
for (int index1 = 0; index1 < num1; ++index1)
{
for (int index2 = 0; index2 < num2; ++index2)
{
floatVector floatVector1 = new floatVector(MovingObjVertexes[3 * index1], MovingObjVertexes[3 * index1 + 1], MovingObjVertexes[3 * index1 + 2]);
int index3 = 3 * index2;
floatVector floatVector2 = new floatVector(ObjVertexes[3 * ObjTriangles[index3]], ObjVertexes[3 * ObjTriangles[index3] + 1], ObjVertexes[3 * ObjTriangles[index3] + 2]);
floatVector v1 = floatVector1 - floatVector2;
floatVector v2 = new floatVector(N[index3], N[index3 + 1], N[index3 + 2]);
if ((double)v2.x != 0.0 || (double)v2.y != 0.0 || (double)v2.y != 0.0)
{
float num3 = floatVector.DotProduct(v1, v2);
if ((double)Math.Abs(num3) <= (double)CollisionDistance[0] && MovingObjCollisions[index1] < 0)
{
floatVector floatVector3d = new floatVector(ObjVertexes[3 * ObjTriangles[index3 + 1]], ObjVertexes[3 * ObjTriangles[index3 + 1] + 1], ObjVertexes[3 * ObjTriangles[index3 + 1] + 2]);
floatVector floatVector4 = new floatVector(ObjVertexes[3 * ObjTriangles[index3 + 2]], ObjVertexes[3 * ObjTriangles[index3 + 2] + 1], ObjVertexes[3 * ObjTriangles[index3 + 2] + 2]);
floatVector floatVector5 = floatVector3d - floatVector2;
floatVector floatVector6 = floatVector4 - floatVector2;
floatVector floatVector7 = v1 - -num3 * v2;
float num4;
float num5;
float num6;
float num7;
float num8;
float num9;
if ((double)Math.Abs(v2.x) >= (double)Math.Abs(v2.y) && (double)Math.Abs(v2.x) >= (double)Math.Abs(v2.z))
{
num4 = floatVector7.z;
num5 = floatVector7.y;
num6 = floatVector5.z;
num7 = floatVector5.y;
num8 = floatVector6.z;
num9 = floatVector6.y;
}
else if ((double)Math.Abs(v2.y) >= (double)Math.Abs(v2.x) && (double)Math.Abs(v2.y) >= (double)Math.Abs(v2.z))
{
num4 = floatVector7.x;
num5 = floatVector7.z;
num6 = floatVector5.x;
num7 = floatVector5.z;
num8 = floatVector6.x;
num9 = floatVector6.z;
}
else
{
num4 = floatVector7.x;
num5 = floatVector7.y;
num6 = floatVector5.x;
num7 = floatVector5.y;
num8 = floatVector6.x;
num9 = floatVector6.y;
}
float num10 = (float)(1.0 / ((double)num6 * (double)num9 - (double)num7 * (double)num8));
float num11 = (float)((double)num9 * (double)num4 - (double)num8 * (double)num5);
float num12 = (float)(-(double)num7 * (double)num4 + (double)num6 * (double)num5);
float num13 = num11 * num10;
float num14 = num12 * num10;
if ((double)num13 + (double)num14 <= 1.0 && (double)num13 >= 0.0 && (double)num14 >= 0.0)
{
MovingObjCollisions[index1] = index2;
MovingObjDistances[index1] = num3;
}
}
}
if (MovingObjCollisions[index1] >= 0)
{
index2 = num2;
}
}
}
}