private void GenerateObstacleVOs(Agent.VOBuffer vos)
{
for (int i = 0; i < this.simulator.obstacles.Count; i++)
{
ObstacleVertex obstacleVertex = this.simulator.obstacles[i];
ObstacleVertex obstacleVertex2 = obstacleVertex;
do
{
if (obstacleVertex2.ignore || (obstacleVertex2.layer & this.collidesWith) == (RVOLayer)0)
{
obstacleVertex2 = obstacleVertex2.next;
}
else
{
Vector2 vector = Agent.To2D(obstacleVertex2.position);
Vector2 vector2 = Agent.To2D(obstacleVertex2.next.position);
float num = Agent.VO.SignedDistanceFromLine(vector, obstacleVertex2.dir, this.position);
if (num >= -0.01f && num < this.neighbourDist)
{
float t = Vector2.Dot(this.position - vector, vector2 - vector) / (vector2 - vector).sqrMagnitude;
float num2 = Mathf.Lerp(obstacleVertex2.position.y, obstacleVertex2.next.position.y, t);
float sqrMagnitude = (Vector2.Lerp(vector, vector2, t) - this.position).sqrMagnitude;
if (sqrMagnitude < this.neighbourDist * this.neighbourDist && this.elevationCoordinate <= num2 + obstacleVertex2.height && this.elevationCoordinate + this.height >= num2)
{
vos.Add(Agent.VO.SegmentObstacle(vector2 - this.position, vector - this.position, Vector2.zero, this.radius * 0.01f, 1f / this.ObstacleTimeHorizon, 1f / this.simulator.DeltaTime));
}
}
obstacleVertex2 = obstacleVertex2.next;
}
}while (obstacleVertex2 != obstacleVertex && obstacleVertex2 != null && obstacleVertex2.next != null);
}
}
private void GenerateNeighbourAgentVOs(Agent.VOBuffer vos)
{
float num = 1f / this.agentTimeHorizon;
Vector2 a = this.currentVelocity;
for (int i = 0; i < this.neighbours.Count; i++)
{
Agent agent = this.neighbours[i];
if (agent != this)
{
float num2 = Math.Min(this.elevationCoordinate + this.height, agent.elevationCoordinate + agent.height);
float num3 = Math.Max(this.elevationCoordinate, agent.elevationCoordinate);
if (num2 - num3 >= 0f)
{
float num4 = this.radius + agent.radius;
Vector2 vector = agent.position - this.position;
float num5;
if (agent.locked || agent.manuallyControlled)
{
num5 = 1f;
}
else if (agent.Priority > 1E-05f || this.Priority > 1E-05f)
{
num5 = agent.Priority / (this.Priority + agent.Priority);
}
else
{
num5 = 0.5f;
}
Vector2 b = Vector2.Lerp(agent.currentVelocity, agent.desiredVelocity, 2f * num5 - 1f);
Vector2 vector2 = Vector2.Lerp(a, b, num5);
vos.Add(new Agent.VO(vector, vector2, num4, num, 1f / this.simulator.DeltaTime));
if (this.DebugDraw)
{
Agent.DrawVO(this.position + vector * num + vector2, num4 * num, this.position + vector2);
}
}
}
}
}
private void GenerateObstacleVOs(Agent.VOBuffer vos)
{
float num = this.maxSpeed * this.obstacleTimeHorizon;
for (int i = 0; i < this.simulator.obstacles.Count; i++)
{
ObstacleVertex obstacleVertex = this.simulator.obstacles[i];
ObstacleVertex obstacleVertex2 = obstacleVertex;
do
{
if (obstacleVertex2.ignore || (obstacleVertex2.layer & this.collidesWith) == (RVOLayer)0)
{
obstacleVertex2 = obstacleVertex2.next;
}
else
{
float a;
Vector2 vector = this.To2D(obstacleVertex2.position, out a);
float b;
Vector2 vector2 = this.To2D(obstacleVertex2.next.position, out b);
Vector2 normalized = (vector2 - vector).normalized;
float num2 = Agent.VO.SignedDistanceFromLine(vector, normalized, this.position);
if (num2 >= -0.01f && num2 < num)
{
float t = Vector2.Dot(this.position - vector, vector2 - vector) / (vector2 - vector).sqrMagnitude;
float num3 = Mathf.Lerp(a, b, t);
float sqrMagnitude = (Vector2.Lerp(vector, vector2, t) - this.position).sqrMagnitude;
if (sqrMagnitude < num * num && this.elevationCoordinate <= num3 + obstacleVertex2.height && this.elevationCoordinate + this.height >= num3)
{
vos.Add(Agent.VO.SegmentObstacle(vector2 - this.position, vector - this.position, Vector2.zero, this.radius * 0.01f, 1f / this.ObstacleTimeHorizon, 1f / this.simulator.DeltaTime));
}
}
obstacleVertex2 = obstacleVertex2.next;
}
}while (obstacleVertex2 != obstacleVertex && obstacleVertex2 != null && obstacleVertex2.next != null);
}
}
