public static void CalculateTimeOfImpact(out TOIOutput output, TOIInput input)
{
output = default(TOIOutput);
output.State = TOIOutputState.Unknown;
output.T = input.TMax;
Sweep sweepA = input.SweepA;
Sweep sweepB = input.SweepB;
sweepA.Normalize();
sweepB.Normalize();
FP tMax = input.TMax;
FP x = input.ProxyA.Radius + input.ProxyB.Radius;
FP fP = TSMath.Max(Settings.LinearSlop, x - 3f * Settings.LinearSlop);
FP y = 0.25f * Settings.LinearSlop;
Debug.Assert(fP > y);
FP fP2 = 0f;
int num = 0;
TimeOfImpact._distanceInput = (TimeOfImpact._distanceInput ?? new DistanceInput());
TimeOfImpact._distanceInput.ProxyA = input.ProxyA;
TimeOfImpact._distanceInput.ProxyB = input.ProxyB;
TimeOfImpact._distanceInput.UseRadii = false;
while (true)
{
Transform transformA;
sweepA.GetTransform(out transformA, fP2);
Transform transformB;
sweepB.GetTransform(out transformB, fP2);
TimeOfImpact._distanceInput.TransformA = transformA;
TimeOfImpact._distanceInput.TransformB = transformB;
DistanceOutput distanceOutput;
SimplexCache simplexCache;
Distance.ComputeDistance(out distanceOutput, out simplexCache, TimeOfImpact._distanceInput);
bool flag = distanceOutput.Distance <= 0f;
if (flag)
{
break;
}
bool flag2 = distanceOutput.Distance < fP + y;
if (flag2)
{
goto Block_3;
}
SeparationFunction.Set(ref simplexCache, input.ProxyA, ref sweepA, input.ProxyB, ref sweepB, fP2);
bool flag3 = false;
FP fP3 = tMax;
int num2 = 0;
while (true)
{
int indexA;
int indexB;
FP x2 = SeparationFunction.FindMinSeparation(out indexA, out indexB, fP3);
bool flag4 = x2 > fP + y;
if (flag4)
{
goto Block_4;
}
bool flag5 = x2 > fP - y;
if (flag5)
{
goto Block_5;
}
FP fP4 = SeparationFunction.Evaluate(indexA, indexB, fP2);
bool flag6 = fP4 < fP - y;
if (flag6)
{
goto Block_6;
}
bool flag7 = fP4 <= fP + y;
if (flag7)
{
goto Block_7;
}
int num3 = 0;
FP fP5 = fP2;
FP fP6 = fP3;
FP fP7;
bool flag11;
do
{
bool flag8 = (num3 & 1) != 0;
if (flag8)
{
fP7 = fP5 + (fP - fP4) * (fP6 - fP5) / (x2 - fP4);
}
else
{
fP7 = 0.5f * (fP5 + fP6);
}
num3++;
FP fP8 = SeparationFunction.Evaluate(indexA, indexB, fP7);
bool flag9 = FP.Abs(fP8 - fP) < y;
if (flag9)
{
goto Block_9;
}
bool flag10 = fP8 > fP;
if (flag10)
{
fP5 = fP7;
fP4 = fP8;
}
else
{
fP6 = fP7;
x2 = fP8;
}
flag11 = (num3 == 50);
}while (!flag11);
IL_373:
num2++;
bool flag12 = num2 == Settings.MaxPolygonVertices;
if (flag12)
{
break;
}
continue;
Block_9:
fP3 = fP7;
goto IL_373;
}
IL_396:
num++;
bool flag13 = flag3;
if (flag13)
{
goto Block_13;
}
bool flag14 = num == 20;
if (flag14)
{
goto Block_14;
}
continue;
Block_4:
output.State = TOIOutputState.Seperated;
output.T = tMax;
flag3 = true;
goto IL_396;
Block_5:
fP2 = fP3;
goto IL_396;
Block_6:
output.State = TOIOutputState.Failed;
output.T = fP2;
flag3 = true;
goto IL_396;
Block_7:
output.State = TOIOutputState.Touching;
output.T = fP2;
flag3 = true;
goto IL_396;
}
output.State = TOIOutputState.Overlapped;
output.T = 0f;
return;
Block_3:
output.State = TOIOutputState.Touching;
output.T = fP2;
Block_13:
return;
Block_14:
output.State = TOIOutputState.Failed;
output.T = fP2;
}
/// <summary>
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
/// non-tunneling collision. If you change the time interval, you should call this function
/// again.
/// Note: use Distance() to compute the contact point and normal at the time of impact.
/// </summary>
/// <param name="output">The output.</param>
/// <param name="input">The input.</param>
public static void CalculateTimeOfImpact(out TOIOutput output, TOIInput input)
{
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOICalls;
}
output = new TOIOutput();
output.State = TOIOutputState.Unknown;
output.T = input.TMax;
Sweep sweepA = input.SweepA;
Sweep sweepB = input.SweepB;
// Large rotations can make the root finder fail, so we normalize the
// sweep angles.
sweepA.Normalize();
sweepB.Normalize();
FP tMax = input.TMax;
FP totalRadius = input.ProxyA.Radius + input.ProxyB.Radius;
FP target = TrueSync.TSMath.Max(Settings.LinearSlop, totalRadius - 3.0f * Settings.LinearSlop);
FP tolerance = 0.25f * Settings.LinearSlop;
Debug.Assert(target > tolerance);
FP t1 = 0.0f;
const int k_maxIterations = 20;
int iter = 0;
// Prepare input for distance query.
_distanceInput = _distanceInput ?? new DistanceInput();
_distanceInput.ProxyA = input.ProxyA;
_distanceInput.ProxyB = input.ProxyB;
_distanceInput.UseRadii = false;
// The outer loop progressively attempts to compute new separating axes.
// This loop terminates when an axis is repeated (no progress is made).
for (; ;)
{
Transform xfA, xfB;
sweepA.GetTransform(out xfA, t1);
sweepB.GetTransform(out xfB, t1);
// Get the distance between shapes. We can also use the results
// to get a separating axis.
_distanceInput.TransformA = xfA;
_distanceInput.TransformB = xfB;
DistanceOutput distanceOutput;
SimplexCache cache;
Distance.ComputeDistance(out distanceOutput, out cache, _distanceInput);
// If the shapes are overlapped, we give up on continuous collision.
if (distanceOutput.Distance <= 0.0f)
{
// Failure!
output.State = TOIOutputState.Overlapped;
output.T = 0.0f;
break;
}
if (distanceOutput.Distance < target + tolerance)
{
// Victory!
output.State = TOIOutputState.Touching;
output.T = t1;
break;
}
SeparationFunction.Set(ref cache, input.ProxyA, ref sweepA, input.ProxyB, ref sweepB, t1);
// Compute the TOI on the separating axis. We do this by successively
// resolving the deepest point. This loop is bounded by the number of vertices.
bool done = false;
FP t2 = tMax;
int pushBackIter = 0;
for (; ;)
{
// Find the deepest point at t2. Store the witness point indices.
int indexA, indexB;
FP s2 = SeparationFunction.FindMinSeparation(out indexA, out indexB, t2);
// Is the final configuration separated?
if (s2 > target + tolerance)
{
// Victory!
output.State = TOIOutputState.Seperated;
output.T = tMax;
done = true;
break;
}
// Has the separation reached tolerance?
if (s2 > target - tolerance)
{
// Advance the sweeps
t1 = t2;
break;
}
// Compute the initial separation of the witness points.
FP s1 = SeparationFunction.Evaluate(indexA, indexB, t1);
// Check for initial overlap. This might happen if the root finder
// runs out of iterations.
if (s1 < target - tolerance)
{
output.State = TOIOutputState.Failed;
output.T = t1;
done = true;
break;
}
// Check for touching
if (s1 <= target + tolerance)
{
// Victory! t1 should hold the TOI (could be 0.0).
output.State = TOIOutputState.Touching;
output.T = t1;
done = true;
break;
}
// Compute 1D root of: f(x) - target = 0
int rootIterCount = 0;
FP a1 = t1, a2 = t2;
for (; ;)
{
// Use a mix of the secant rule and bisection.
FP t;
if ((rootIterCount & 1) != 0)
{
// Secant rule to improve convergence.
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
}
else
{
// Bisection to guarantee progress.
t = 0.5f * (a1 + a2);
}
++rootIterCount;
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOIRootIters;
}
FP s = SeparationFunction.Evaluate(indexA, indexB, t);
if (FP.Abs(s - target) < tolerance)
{
// t2 holds a tentative value for t1
t2 = t;
break;
}
// Ensure we continue to bracket the root.
if (s > target)
{
a1 = t;
s1 = s;
}
else
{
a2 = t;
s2 = s;
}
if (rootIterCount == 50)
{
break;
}
}
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
TOIMaxRootIters = Math.Max(TOIMaxRootIters, rootIterCount);
}
++pushBackIter;
if (pushBackIter == Settings.MaxPolygonVertices)
{
break;
}
}
++iter;
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
++TOIIters;
}
if (done)
{
break;
}
if (iter == k_maxIterations)
{
// Root finder got stuck. Semi-victory.
output.State = TOIOutputState.Failed;
output.T = t1;
break;
}
}
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
{
TOIMaxIters = Math.Max(TOIMaxIters, iter);
}
}