| public static TriangleArea2 ( Vector3 a, Vector3 b, Vector3 c ) : float | ||
| a | Vector3 | |
| b | Vector3 | |
| c | Vector3 | |
| return | float | |
/** Generates a navmesh. Based on the supplied vertices and triangles. Memory usage is about O(n) */
void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
Profiler.BeginSample("Init");
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new Int3[0];
//graph.CreateNodes (0);
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
int c = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)matrix.MultiplyPoint3x4(vectorVertices[i]);
}
var hashedVerts = new Dictionary <Int3, int> ();
var newVertices = new int[vertices.Length];
Profiler.EndSample();
Profiler.BeginSample("Hashing");
for (int i = 0; i < vertices.Length; i++)
{
if (!hashedVerts.ContainsKey(vertices[i]))
{
newVertices[c] = i;
hashedVerts.Add(vertices[i], c);
c++;
}
}
for (int x = 0; x < triangles.Length; x++)
{
Int3 vertex = vertices[triangles[x]];
triangles[x] = hashedVerts[vertex];
}
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i = 0; i < c; i++)
{
vertices[i] = totalIntVertices[newVertices[i]];
originalVertices[i] = vectorVertices[newVertices[i]];
}
Profiler.EndSample();
Profiler.BeginSample("Constructing Nodes");
nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = active.astarData.GetGraphIndex(this);
// Does not have to set this, it is set in ScanInternal
//TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
for (int i = 0; i < nodes.Length; i++)
{
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i]; //new MeshNode ();
node.GraphIndex = (uint)graphIndex;
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i * 3];
node.v1 = triangles[i * 3 + 1];
node.v2 = triangles[i * 3 + 2];
if (!Polygon.IsClockwise(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (Polygon.IsColinear(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
Profiler.EndSample();
var sides = new Dictionary <Int2, TriangleMeshNode>();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
sides[new Int2(triangles[i + 0], triangles[i + 1])] = nodes[j];
sides[new Int2(triangles[i + 1], triangles[i + 2])] = nodes[j];
sides[new Int2(triangles[i + 2], triangles[i + 0])] = nodes[j];
}
Profiler.BeginSample("Connecting Nodes");
var connections = new List <MeshNode> ();
var connectionCosts = new List <uint> ();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
connections.Clear();
connectionCosts.Clear();
TriangleMeshNode node = nodes[j];
for (int q = 0; q < 3; q++)
{
TriangleMeshNode other;
if (sides.TryGetValue(new Int2(triangles[i + ((q + 1) % 3)], triangles[i + q]), out other))
{
connections.Add(other);
connectionCosts.Add((uint)(node.position - other.position).costMagnitude);
}
}
node.connections = connections.ToArray();
node.connectionCosts = connectionCosts.ToArray();
}
Profiler.EndSample();
Profiler.BeginSample("Rebuilding BBTree");
RebuildBBTree(this);
Profiler.EndSample();
#if ASTARDEBUG
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
float a1 = Polygon.TriangleArea2((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], (Vector3)vertices[node.v2]);
long a2 = Polygon.TriangleArea2(vertices[node.v0], vertices[node.v1], vertices[node.v2]);
if (a1 * a2 < 0)
{
Debug.LogError(a1 + " " + a2);
}
if (Polygon.IsClockwise(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.green);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.green);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.green);
}
else
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
}
#endif
//Debug.Log ("Graph Generation - NavMesh - Time to compute graph "+((Time.realtimeSinceStartup-startTime)*1000F).ToString ("0")+"ms");
}
/** Returns randomly selected points on the specified nodes with each point being separated by \a clearanceRadius from each other.
* Selecting points ON the nodes only works for TriangleMeshNode (used by Recast Graph and Navmesh Graph) and GridNode (used by GridGraph).
* For other node types, only the positions of the nodes will be used.
*
* clearanceRadius will be reduced if no valid points can be found.
*/
public static List <Vector3> GetPointsOnNodes(List <GraphNode> nodes, int count, float clearanceRadius = 0)
{
if (nodes == null)
{
throw new System.ArgumentNullException("nodes");
}
if (nodes.Count == 0)
{
throw new System.ArgumentException("no nodes passed");
}
var rnd = new System.Random();
List <Vector3> pts = ListPool <Vector3> .Claim(count);
// Square
clearanceRadius *= clearanceRadius;
if (nodes[0] is TriangleMeshNode
#if !ASTAR_NO_GRID_GRAPH
|| nodes[0] is GridNode
#endif
)
{
//Assume all nodes are triangle nodes or grid nodes
List <float> accs = ListPool <float> .Claim(nodes.Count);
float tot = 0;
for (int i = 0; i < nodes.Count; i++)
{
var tnode = nodes[i] as TriangleMeshNode;
if (tnode != null)
{
/** \bug Doesn't this need to be divided by 2? */
float a = System.Math.Abs(Polygon.TriangleArea2(tnode.GetVertex(0), tnode.GetVertex(1), tnode.GetVertex(2)));
tot += a;
accs.Add(tot);
}
#if !ASTAR_NO_GRID_GRAPH
else
{
var gnode = nodes[i] as GridNode;
if (gnode != null)
{
GridGraph gg = GridNode.GetGridGraph(gnode.GraphIndex);
float a = gg.nodeSize * gg.nodeSize;
tot += a;
accs.Add(tot);
}
else
{
accs.Add(tot);
}
}
#endif
}
for (int i = 0; i < count; i++)
{
//Pick point
int testCount = 0;
int testLimit = 10;
bool worked = false;
while (!worked)
{
worked = true;
//If no valid points can be found, progressively lower the clearance radius until such a point is found
if (testCount >= testLimit)
{
clearanceRadius *= 0.8f;
testLimit += 10;
if (testLimit > 100)
{
clearanceRadius = 0;
}
}
float tg = (float)rnd.NextDouble() * tot;
int v = accs.BinarySearch(tg);
if (v < 0)
{
v = ~v;
}
if (v >= nodes.Count)
{
// This shouldn't happen, due to NextDouble being smaller than 1... but I don't trust floating point arithmetic.
worked = false;
continue;
}
var node = nodes[v] as TriangleMeshNode;
Vector3 p;
if (node != null)
{
// Find a random point inside the triangle
float v1;
float v2;
do
{
v1 = (float)rnd.NextDouble();
v2 = (float)rnd.NextDouble();
} while (v1 + v2 > 1);
p = ((Vector3)(node.GetVertex(1) - node.GetVertex(0))) * v1 + ((Vector3)(node.GetVertex(2) - node.GetVertex(0))) * v2 + (Vector3)node.GetVertex(0);
}
else
{
#if !ASTAR_NO_GRID_GRAPH
var gnode = nodes[v] as GridNode;
if (gnode != null)
{
GridGraph gg = GridNode.GetGridGraph(gnode.GraphIndex);
float v1 = (float)rnd.NextDouble();
float v2 = (float)rnd.NextDouble();
p = (Vector3)gnode.position + new Vector3(v1 - 0.5f, 0, v2 - 0.5f) * gg.nodeSize;
}
else
#endif
{
//Point nodes have no area, so we break directly instead
pts.Add((Vector3)nodes[v].position);
break;
}
}
// Test if it is some distance away from the other points
if (clearanceRadius > 0)
{
for (int j = 0; j < pts.Count; j++)
{
if ((pts[j] - p).sqrMagnitude < clearanceRadius)
{
worked = false;
break;
}
}
}
if (worked)
{
pts.Add(p);
break;
}
testCount++;
}
}
ListPool <float> .Release(accs);
}
else
{
for (int i = 0; i < count; i++)
{
pts.Add((Vector3)nodes[rnd.Next(nodes.Count)].position);
}
}
return(pts);
}
// Token: 0x060006B1 RID: 1713 RVA: 0x000424C4 File Offset: 0x000408C4
public bool RunFunnel(List <Vector3> left, List <Vector3> right, List <Vector3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.Count <= 3)
{
return(false);
}
while (left[1] == left[2] && right[1] == right[2])
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
Vector3 vector = left[2];
if (vector == left[1])
{
vector = right[2];
}
while (Polygon.IsColinear(left[0], left[1], right[1]) || Polygon.Left(left[1], right[1], vector) == Polygon.Left(left[1], right[1], left[0]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
vector = left[2];
if (vector == left[1])
{
vector = right[2];
}
}
if (!Polygon.IsClockwise(left[0], left[1], right[1]) && !Polygon.IsColinear(left[0], left[1], right[1]))
{
List <Vector3> list = left;
left = right;
right = list;
}
funnelPath.Add(left[0]);
Vector3 vector2 = left[0];
Vector3 vector3 = left[1];
Vector3 vector4 = right[1];
int num = 1;
int num2 = 1;
int i = 2;
while (i < left.Count)
{
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 vector5 = left[i];
Vector3 vector6 = right[i];
if (Polygon.TriangleArea2(vector2, vector4, vector6) < 0f)
{
goto IL_279;
}
if (vector2 == vector4 || Polygon.TriangleArea2(vector2, vector3, vector6) <= 0f)
{
vector4 = vector6;
num = i;
goto IL_279;
}
funnelPath.Add(vector3);
vector2 = vector3;
int num3 = num2;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
IL_2DD:
i++;
continue;
IL_279:
if (Polygon.TriangleArea2(vector2, vector3, vector5) > 0f)
{
goto IL_2DD;
}
if (vector2 == vector3 || Polygon.TriangleArea2(vector2, vector4, vector5) >= 0f)
{
vector3 = vector5;
num2 = i;
goto IL_2DD;
}
funnelPath.Add(vector4);
vector2 = vector4;
num3 = num;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
goto IL_2DD;
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
/** Calculate a funnel path from the \a left and \a right portal lists.
* The result will be appended to \a funnelPath
*/
public static bool RunFunnel(List <Vector3> left, List <Vector3> right, List <Vector3> funnelPath)
{
if (left == null)
{
throw new System.ArgumentNullException("left");
}
if (right == null)
{
throw new System.ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new System.ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new System.ArgumentException("left and right lists must have equal length");
}
if (left.Count <= 3)
{
return(false);
}
//Remove identical vertices
while (left[1] == left[2] && right[1] == right[2])
{
//System.Console.WriteLine ("Removing identical left and right");
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
Vector3 swPoint = left[2];
if (swPoint == left[1])
{
swPoint = right[2];
}
//Test
while (Polygon.IsColinear(left[0], left[1], right[1]) || Polygon.Left(left[1], right[1], swPoint) == Polygon.Left(left[1], right[1], left[0]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
swPoint = left[2];
if (swPoint == left[1])
{
swPoint = right[2];
}
}
//Switch left and right to really be on the "left" and "right" sides
if (!Polygon.IsClockwise(left[0], left[1], right[1]) && !Polygon.IsColinear(left[0], left[1], right[1]))
{
//System.Console.WriteLine ("Wrong Side 2");
List <Vector3> tmp = left;
left = right;
right = tmp;
}
funnelPath.Add(left[0]);
Vector3 portalApex = left[0];
Vector3 portalLeft = left[1];
Vector3 portalRight = right[1];
int apexIndex = 0;
int rightIndex = 1;
int leftIndex = 1;
for (int i = 2; i < left.Count; i++)
{
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 pLeft = left[i];
Vector3 pRight = right[i];
/*Debug.DrawLine (portalApex,portalLeft,Color.red);
* Debug.DrawLine (portalApex,portalRight,Color.yellow);
* Debug.DrawLine (portalApex,left,Color.cyan);
* Debug.DrawLine (portalApex,right,Color.cyan);*/
if (Polygon.TriangleArea2(portalApex, portalRight, pRight) >= 0)
{
if (portalApex == portalRight || Polygon.TriangleArea2(portalApex, portalLeft, pRight) <= 0)
{
portalRight = pRight;
rightIndex = i;
}
else
{
funnelPath.Add(portalLeft);
portalApex = portalLeft;
apexIndex = leftIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
if (Polygon.TriangleArea2(portalApex, portalLeft, pLeft) <= 0)
{
if (portalApex == portalLeft || Polygon.TriangleArea2(portalApex, portalRight, pLeft) >= 0)
{
portalLeft = pLeft;
leftIndex = i;
}
else
{
funnelPath.Add(portalRight);
portalApex = portalRight;
apexIndex = rightIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
public static long TriangleArea(Int3 a, Int3 b, Int3 c)
{
return(Polygon.TriangleArea2(a, b, c));
}
public static float TriangleArea(Vector3 a, Vector3 b, Vector3 c)
{
return(Polygon.TriangleArea2(a, b, c));
}
public bool FindNextCorners(Vector3 origin, int startIndex, List <Vector3> funnelPath, int numCorners, out bool lastCorner)
{
lastCorner = false;
if (this.left == null)
{
throw new Exception("left list is null");
}
if (this.right == null)
{
throw new Exception("right list is null");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (this.left.Count != this.right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
int count = this.left.Count;
if (count == 0)
{
throw new ArgumentException("no diagonals");
}
if (count - startIndex < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
while (this.left[startIndex + 1] == this.left[startIndex + 2] && this.right[startIndex + 1] == this.right[startIndex + 2])
{
startIndex++;
if (count - startIndex <= 3)
{
return(false);
}
}
Vector3 vector = this.left[startIndex + 2];
if (vector == this.left[startIndex + 1])
{
vector = this.right[startIndex + 2];
}
while (Polygon.IsColinear(origin, this.left[startIndex + 1], this.right[startIndex + 1]) || Polygon.Left(this.left[startIndex + 1], this.right[startIndex + 1], vector) == Polygon.Left(this.left[startIndex + 1], this.right[startIndex + 1], origin))
{
startIndex++;
if (count - startIndex < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
vector = this.left[startIndex + 2];
if (vector == this.left[startIndex + 1])
{
vector = this.right[startIndex + 2];
}
}
Vector3 vector2 = origin;
Vector3 vector3 = this.left[startIndex + 1];
Vector3 vector4 = this.right[startIndex + 1];
int num = startIndex + 1;
int num2 = startIndex + 1;
int i = startIndex + 2;
while (i < count)
{
if (funnelPath.Count >= numCorners)
{
return(true);
}
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 vector5 = this.left[i];
Vector3 vector6 = this.right[i];
if (Polygon.TriangleArea2(vector2, vector4, vector6) < 0f)
{
goto IL_2FB;
}
if (vector2 == vector4 || Polygon.TriangleArea2(vector2, vector3, vector6) <= 0f)
{
vector4 = vector6;
num = i;
goto IL_2FB;
}
funnelPath.Add(vector3);
vector2 = vector3;
int num3 = num2;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
IL_35F:
i++;
continue;
IL_2FB:
if (Polygon.TriangleArea2(vector2, vector3, vector5) > 0f)
{
goto IL_35F;
}
if (vector2 == vector3 || Polygon.TriangleArea2(vector2, vector4, vector5) >= 0f)
{
vector3 = vector5;
num2 = i;
goto IL_35F;
}
funnelPath.Add(vector4);
vector2 = vector4;
num3 = num;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
goto IL_35F;
}
lastCorner = true;
funnelPath.Add(this.left[count - 1]);
return(true);
}
public bool FindNextCorners(Vector3 origin, int startIndex, List <Vector3> funnelPath, int numCorners, out bool lastCorner)
{
lastCorner = false;
if (left == null)
{
throw new System.Exception("left list is null");
}
if (right == null)
{
throw new System.Exception("right list is null");
}
if (funnelPath == null)
{
throw new System.ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new System.ArgumentException("left and right lists must have equal length");
}
int diagonalCount = left.Count;
if (diagonalCount == 0)
{
throw new System.ArgumentException("no diagonals");
}
if (diagonalCount - startIndex < 3)
{
//Direct path
funnelPath.Add(left[diagonalCount - 1]);
lastCorner = true;
return(true);
}
#if ASTARDEBUG
for (int i = startIndex; i < left.Count - 1; i++)
{
Debug.DrawLine(left[i], left[i + 1], Color.red);
Debug.DrawLine(right[i], right[i + 1], Color.magenta);
Debug.DrawRay(right[i], Vector3.up, Color.magenta);
}
for (int i = 0; i < left.Count; i++)
{
Debug.DrawLine(right[i], left[i], Color.cyan);
}
#endif
//Remove identical vertices
while (left[startIndex + 1] == left[startIndex + 2] && right[startIndex + 1] == right[startIndex + 2])
{
//System.Console.WriteLine ("Removing identical left and right");
//left.RemoveAt (1);
//right.RemoveAt (1);
startIndex++;
if (diagonalCount - startIndex <= 3)
{
return(false);
}
}
Vector3 swPoint = left[startIndex + 2];
if (swPoint == left[startIndex + 1])
{
swPoint = right[startIndex + 2];
}
//Test
while (Polygon.IsColinear(origin, left[startIndex + 1], right[startIndex + 1]) || Polygon.Left(left[startIndex + 1], right[startIndex + 1], swPoint) == Polygon.Left(left[startIndex + 1], right[startIndex + 1], origin))
{
#if ASTARDEBUG
Debug.DrawLine(left[startIndex + 1], right[startIndex + 1], new Color(0, 0, 0, 0.5F));
Debug.DrawLine(origin, swPoint, new Color(0, 0, 0, 0.5F));
#endif
//left.RemoveAt (1);
//right.RemoveAt (1);
startIndex++;
if (diagonalCount - startIndex < 3)
{
//Debug.Log ("#2 " + left.Count + " - " + startIndex + " = " + (left.Count-startIndex));
//Direct path
funnelPath.Add(left[diagonalCount - 1]);
lastCorner = true;
return(true);
}
swPoint = left[startIndex + 2];
if (swPoint == left[startIndex + 1])
{
swPoint = right[startIndex + 2];
}
}
//funnelPath.Add (origin);
Vector3 portalApex = origin;
Vector3 portalLeft = left[startIndex + 1];
Vector3 portalRight = right[startIndex + 1];
int apexIndex = startIndex + 0;
int rightIndex = startIndex + 1;
int leftIndex = startIndex + 1;
for (int i = startIndex + 2; i < diagonalCount; i++)
{
if (funnelPath.Count >= numCorners)
{
return(true);
}
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 pLeft = left[i];
Vector3 pRight = right[i];
/*Debug.DrawLine (portalApex,portalLeft,Color.red);
* Debug.DrawLine (portalApex,portalRight,Color.yellow);
* Debug.DrawLine (portalApex,left,Color.cyan);
* Debug.DrawLine (portalApex,right,Color.cyan);*/
if (Polygon.TriangleArea2(portalApex, portalRight, pRight) >= 0)
{
if (portalApex == portalRight || Polygon.TriangleArea2(portalApex, portalLeft, pRight) <= 0)
{
portalRight = pRight;
rightIndex = i;
}
else
{
funnelPath.Add(portalLeft);
portalApex = portalLeft;
apexIndex = leftIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
if (Polygon.TriangleArea2(portalApex, portalLeft, pLeft) <= 0)
{
if (portalApex == portalLeft || Polygon.TriangleArea2(portalApex, portalRight, pLeft) >= 0)
{
portalLeft = pLeft;
leftIndex = i;
}
else
{
funnelPath.Add(portalRight);
portalApex = portalRight;
apexIndex = rightIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
}
lastCorner = true;
funnelPath.Add(left[diagonalCount - 1]);
return(true);
}
public bool RunFunnel(List <VInt3> left, List <VInt3> right, List <VInt3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.get_Count() != right.get_Count())
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.get_Count() <= 3)
{
return(false);
}
while (left.get_Item(1) == left.get_Item(2) && right.get_Item(1) == right.get_Item(2))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.get_Count() <= 3)
{
return(false);
}
}
VInt3 vInt = left.get_Item(2);
if (vInt == left.get_Item(1))
{
vInt = right.get_Item(2);
}
while (Polygon.IsColinear(left.get_Item(0), left.get_Item(1), right.get_Item(1)) || Polygon.Left(left.get_Item(1), right.get_Item(1), vInt) == Polygon.Left(left.get_Item(1), right.get_Item(1), left.get_Item(0)))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.get_Count() <= 3)
{
return(false);
}
vInt = left.get_Item(2);
if (vInt == left.get_Item(1))
{
vInt = right.get_Item(2);
}
}
if (!Polygon.IsClockwise(left.get_Item(0), left.get_Item(1), right.get_Item(1)) && !Polygon.IsColinear(left.get_Item(0), left.get_Item(1), right.get_Item(1)))
{
List <VInt3> list = left;
left = right;
right = list;
}
funnelPath.Add(left.get_Item(0));
VInt3 vInt2 = left.get_Item(0);
VInt3 vInt3 = left.get_Item(1);
VInt3 vInt4 = right.get_Item(1);
int num = 1;
int num2 = 1;
int i = 2;
while (i < left.get_Count())
{
if (funnelPath.get_Count() > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
VInt3 vInt5 = left.get_Item(i);
VInt3 vInt6 = right.get_Item(i);
if (Polygon.TriangleArea2(vInt2, vInt4, vInt6) < 0L)
{
goto IL_27B;
}
if (vInt2 == vInt4 || Polygon.TriangleArea2(vInt2, vInt3, vInt6) <= 0L)
{
vInt4 = vInt6;
num = i;
goto IL_27B;
}
funnelPath.Add(vInt3);
vInt2 = vInt3;
int num3 = num2;
vInt3 = vInt2;
vInt4 = vInt2;
num2 = num3;
num = num3;
i = num3;
IL_270:
i++;
continue;
IL_27B:
if (Polygon.TriangleArea2(vInt2, vInt3, vInt5) > 0L)
{
goto IL_270;
}
if (vInt2 == vInt3 || Polygon.TriangleArea2(vInt2, vInt4, vInt5) >= 0L)
{
vInt3 = vInt5;
num2 = i;
goto IL_270;
}
funnelPath.Add(vInt4);
vInt2 = vInt4;
num3 = num;
vInt3 = vInt2;
vInt4 = vInt2;
num2 = num3;
num = num3;
i = num3;
goto IL_270;
}
funnelPath.Add(left.get_Item(left.get_Count() - 1));
return(true);
}
public bool RunFunnel(List <VInt3> left, List <VInt3> right, List <VInt3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.Count <= 3)
{
return(false);
}
while ((left[1] == left[2]) && (right[1] == right[2]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
VInt3 c = left[2];
if (c == left[1])
{
c = right[2];
}
while (Polygon.IsColinear(left[0], left[1], right[1]) || (Polygon.Left(left[1], right[1], c) == Polygon.Left(left[1], right[1], left[0])))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
c = left[2];
if (c == left[1])
{
c = right[2];
}
}
if (!Polygon.IsClockwise(left[0], left[1], right[1]) && !Polygon.IsColinear(left[0], left[1], right[1]))
{
List <VInt3> list = left;
left = right;
right = list;
}
funnelPath.Add(left[0]);
VInt3 a = left[0];
VInt3 b = left[1];
VInt3 num4 = right[1];
int num5 = 0;
int num6 = 1;
int num7 = 1;
for (int i = 2; i < left.Count; i++)
{
if (funnelPath.Count > 0x7d0)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
VInt3 num9 = left[i];
VInt3 num10 = right[i];
if (Polygon.TriangleArea2(a, num4, num10) >= 0L)
{
if ((a == num4) || (Polygon.TriangleArea2(a, b, num10) <= 0L))
{
num4 = num10;
num6 = i;
}
else
{
funnelPath.Add(b);
a = b;
num5 = num7;
b = a;
num4 = a;
num7 = num5;
num6 = num5;
i = num5;
continue;
}
}
if (Polygon.TriangleArea2(a, b, num9) <= 0L)
{
if ((a == b) || (Polygon.TriangleArea2(a, num4, num9) >= 0L))
{
b = num9;
num7 = i;
}
else
{
funnelPath.Add(num4);
a = num4;
num5 = num6;
b = a;
num4 = a;
num7 = num5;
num6 = num5;
i = num5;
}
}
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
public static List <Vector3> GetPointsOnNodes(List <GraphNode> nodes, int count, float clearanceRadius = 0f)
{
if (nodes == null)
{
throw new ArgumentNullException("nodes");
}
if (nodes.Count == 0)
{
throw new ArgumentException("no nodes passed");
}
System.Random random = new System.Random();
List <Vector3> list = ListPool <Vector3> .Claim(count);
clearanceRadius *= clearanceRadius;
if (nodes[0] is TriangleMeshNode || nodes[0] is GridNode)
{
List <float> list2 = ListPool <float> .Claim(nodes.Count);
float num = 0f;
for (int i = 0; i < nodes.Count; i++)
{
TriangleMeshNode triangleMeshNode = nodes[i] as TriangleMeshNode;
if (triangleMeshNode != null)
{
float num2 = (float)Math.Abs(Polygon.TriangleArea2(triangleMeshNode.GetVertex(0), triangleMeshNode.GetVertex(1), triangleMeshNode.GetVertex(2)));
num += num2;
list2.Add(num);
}
else
{
GridNode gridNode = nodes[i] as GridNode;
if (gridNode != null)
{
GridGraph gridGraph = GridNode.GetGridGraph(gridNode.GraphIndex);
float num3 = gridGraph.nodeSize * gridGraph.nodeSize;
num += num3;
list2.Add(num);
}
else
{
list2.Add(num);
}
}
}
for (int j = 0; j < count; j++)
{
int num4 = 0;
int num5 = 10;
bool flag = false;
while (!flag)
{
flag = true;
if (num4 >= num5)
{
clearanceRadius *= 0.8f;
num5 += 10;
if (num5 > 100)
{
clearanceRadius = 0f;
}
}
float item = (float)random.NextDouble() * num;
int num6 = list2.BinarySearch(item);
if (num6 < 0)
{
num6 = ~num6;
}
if (num6 >= nodes.Count)
{
flag = false;
}
else
{
TriangleMeshNode triangleMeshNode2 = nodes[num6] as TriangleMeshNode;
Vector3 vector;
if (triangleMeshNode2 != null)
{
float num7;
float num8;
do
{
num7 = (float)random.NextDouble();
num8 = (float)random.NextDouble();
}while (num7 + num8 > 1f);
vector = (Vector3)(triangleMeshNode2.GetVertex(1) - triangleMeshNode2.GetVertex(0)) * num7 + (Vector3)(triangleMeshNode2.GetVertex(2) - triangleMeshNode2.GetVertex(0)) * num8 + (Vector3)triangleMeshNode2.GetVertex(0);
}
else
{
GridNode gridNode2 = nodes[num6] as GridNode;
if (gridNode2 == null)
{
list.Add((Vector3)nodes[num6].position);
break;
}
GridGraph gridGraph2 = GridNode.GetGridGraph(gridNode2.GraphIndex);
float num9 = (float)random.NextDouble();
float num10 = (float)random.NextDouble();
vector = (Vector3)gridNode2.position + new Vector3(num9 - 0.5f, 0f, num10 - 0.5f) * gridGraph2.nodeSize;
}
if (clearanceRadius > 0f)
{
for (int k = 0; k < list.Count; k++)
{
if ((list[k] - vector).sqrMagnitude < clearanceRadius)
{
flag = false;
break;
}
}
}
if (flag)
{
list.Add(vector);
break;
}
num4++;
}
}
}
ListPool <float> .Release(list2);
}
else
{
for (int l = 0; l < count; l++)
{
list.Add((Vector3)nodes[random.Next(nodes.Count)].position);
}
}
return(list);
}
