| public static IntersectionPointOptimized ( Vector3 start1, Vector3 dir1, Vector3 start2, Vector3 dir2 ) : Vector3 | ||
| start1 | Vector3 | |
| dir1 | Vector3 | |
| start2 | Vector3 | |
| dir2 | Vector3 | |
| return | Vector3 | |
public Vector3 Intersection(LocalAvoidance.HalfPlane hp)
{
Vector3 dir = Vector3.Cross(this.normal, Vector3.up);
Vector3 dir2 = Vector3.Cross(hp.normal, Vector3.up);
return(Polygon.IntersectionPointOptimized(this.point, dir, hp.point, dir2));
}
public Vector3 Intersection(HalfPlane hp)
{
Vector3 tangent = Vector3.Cross(normal, Vector3.up);
Vector3 tangent2 = Vector3.Cross(hp.normal, Vector3.up);
return(Polygon.IntersectionPointOptimized(point, tangent, hp.point, tangent2));
}
public override void TangentToTangent(List <AdvancedSmooth.Turn> turnList)
{
Vector3 dir = Vector3.Cross(AdvancedSmooth.TurnConstructor.t1, Vector3.up);
Vector3 vector = AdvancedSmooth.TurnConstructor.current - AdvancedSmooth.TurnConstructor.prev;
Vector3 start = vector * 0.5f + AdvancedSmooth.TurnConstructor.prev;
vector = Vector3.Cross(vector, Vector3.up);
bool flag;
this.circleCenter = Polygon.IntersectionPointOptimized(AdvancedSmooth.TurnConstructor.prev, dir, start, vector, out flag);
if (!flag)
{
return;
}
this.gamma1 = base.Atan2(AdvancedSmooth.TurnConstructor.prev - this.circleCenter);
this.gamma2 = base.Atan2(AdvancedSmooth.TurnConstructor.current - this.circleCenter);
this.clockwise = !Polygon.Left(this.circleCenter, AdvancedSmooth.TurnConstructor.prev, AdvancedSmooth.TurnConstructor.prev + AdvancedSmooth.TurnConstructor.t1);
double num = (!this.clockwise) ? base.CounterClockwiseAngle(this.gamma1, this.gamma2) : base.ClockwiseAngle(this.gamma1, this.gamma2);
num = base.GetLengthFromAngle(num, (double)(this.circleCenter - AdvancedSmooth.TurnConstructor.current).magnitude);
turnList.Add(new AdvancedSmooth.Turn((float)num, this, 0));
}
public override void TangentToTangent(List <Turn> turnList)
{
Vector3 preNormal = Vector3.Cross(t1, Vector3.up);
//Debug.DrawLine (prev,prev + preNormal*10,Color.cyan);
Vector3 dir = (current - prev);
Vector3 pos = dir * 0.5F + prev;
dir = Vector3.Cross(dir, Vector3.up);
//Debug.DrawLine (prev,pos,Color.red);
//Debug.DrawLine (pos,pos+dir*2,Color.red);
bool didIntersect;
circleCenter = Polygon.IntersectionPointOptimized(prev, preNormal, pos, dir, out didIntersect);
//Debug.DrawLine (prev,circleCenter);
//Debug.DrawLine (circleCenter,current);
if (!didIntersect)
{
return;
}
gamma1 = Atan2(prev - circleCenter);
gamma2 = Atan2(current - circleCenter);
clockwise = !Polygon.Left(circleCenter, prev, prev + t1);
double beta = clockwise ? ClockwiseAngle(gamma1, gamma2) : CounterClockwiseAngle(gamma1, gamma2);
beta = GetLengthFromAngle(beta, (circleCenter - current).magnitude);
turnList.Add(new Turn((float)beta, this, 0));
}
