public override void SupportMapping(ref TSVector direction, out TSVector result)
{
TSVector tSVector;
TSVector.Normalize(ref direction, out tSVector);
TSVector.Multiply(ref tSVector, this.sphericalExpansion, out tSVector);
int num = 0;
FP y = TSVector.Dot(ref this.points[0], ref direction);
FP fP = TSVector.Dot(ref this.points[1], ref direction);
bool flag = fP > y;
if (flag)
{
y = fP;
num = 1;
}
fP = TSVector.Dot(ref this.points[2], ref direction);
bool flag2 = fP > y;
if (flag2)
{
num = 2;
}
TSVector.Add(ref this.points[num], ref tSVector, out result);
}
/// <summary>
/// Multiplies a vector by a scale factor.
/// </summary>
/// <param name="value2">The vector to scale.</param>
/// <param name="value1">The scale factor.</param>
/// <returns>Returns the scaled vector.</returns>
#region public static JVector operator *(FP value1, JVector value2)
public static TSVector operator *(FP value1, TSVector value2)
{
TSVector result;
TSVector.Multiply(ref value2, value1, out result);
return(result);
}
public override void SupportMapping(ref TSVector direction, out TSVector result)
{
FP fP = FP.Sqrt(direction.x * direction.x + direction.z * direction.z);
bool flag = FP.Abs(direction.y) > FP.Zero;
if (flag)
{
TSVector tSVector;
TSVector.Normalize(ref direction, out tSVector);
TSVector.Multiply(ref tSVector, this.radius, out result);
result.y += FP.Sign(direction.y) * FP.Half * this.length;
}
else
{
bool flag2 = fP > FP.Zero;
if (flag2)
{
result.x = direction.x / fP * this.radius;
result.y = FP.Zero;
result.z = direction.z / fP * this.radius;
}
else
{
result.x = FP.Zero;
result.y = FP.Zero;
result.z = FP.Zero;
}
}
}
public void SupportCenter(out TSVector center)
{
center = this.owner.points[this.indices.I0].position;
TSVector.Add(ref center, ref this.owner.points[this.indices.I1].position, out center);
TSVector.Add(ref center, ref this.owner.points[this.indices.I2].position, out center);
TSVector.Multiply(ref center, FP.One / (3 * FP.One), out center);
}
/// <summary>
/// Multiply a vector with a factor.
/// </summary>
/// <param name="value1">The vector to multiply.</param>
/// <param name="scaleFactor">The scale factor.</param>
/// <returns>Returns the multiplied vector.</returns>
#region public static JVector Multiply(JVector value1, FP scaleFactor)
public static TSVector Multiply(TSVector value1, FP scaleFactor)
{
TSVector result;
TSVector.Multiply(ref value1, scaleFactor, out result);
return(result);
}
private void IntegrateForces()
{
int i = 0;
int count = this.rigidBodies.Count;
while (i < count)
{
RigidBody rigidBody = this.rigidBodies[i];
bool flag = !rigidBody.isStatic && rigidBody.IsActive;
if (flag)
{
TSVector tSVector;
TSVector.Multiply(ref rigidBody.force, rigidBody.inverseMass * this.timestep, out tSVector);
TSVector.Add(ref tSVector, ref rigidBody.linearVelocity, out rigidBody.linearVelocity);
bool flag2 = !rigidBody.isParticle;
if (flag2)
{
TSVector.Multiply(ref rigidBody.torque, this.timestep, out tSVector);
TSVector.Transform(ref tSVector, ref rigidBody.invInertiaWorld, out tSVector);
TSVector.Add(ref tSVector, ref rigidBody.angularVelocity, out rigidBody.angularVelocity);
}
bool affectedByGravity = rigidBody.affectedByGravity;
if (affectedByGravity)
{
TSVector.Multiply(ref this.gravity, this.timestep, out tSVector);
TSVector.Add(ref rigidBody.linearVelocity, ref tSVector, out rigidBody.linearVelocity);
}
}
rigidBody.force.MakeZero();
rigidBody.torque.MakeZero();
i++;
}
}
private void CreateAABox(ref TSBBox aabb, Octree.EChild child, out TSBBox result)
{
TSVector tSVector;
TSVector.Subtract(ref aabb.max, ref aabb.min, out tSVector);
TSVector.Multiply(ref tSVector, FP.Half, out tSVector);
TSVector zero = TSVector.zero;
switch (child)
{
case Octree.EChild.MMM:
zero = new TSVector(0, 0, 0);
break;
case Octree.EChild.XP:
zero = new TSVector(1, 0, 0);
break;
case Octree.EChild.YP:
zero = new TSVector(0, 1, 0);
break;
case Octree.EChild.PPM:
zero = new TSVector(1, 1, 0);
break;
case Octree.EChild.ZP:
zero = new TSVector(0, 0, 1);
break;
case Octree.EChild.PMP:
zero = new TSVector(1, 0, 1);
break;
case Octree.EChild.MPP:
zero = new TSVector(0, 1, 1);
break;
case Octree.EChild.PPP:
zero = new TSVector(1, 1, 1);
break;
default:
Debug.WriteLine("Octree.CreateAABox got impossible child");
break;
}
result = default(TSBBox);
result.min = new TSVector(zero.x * tSVector.x, zero.y * tSVector.y, zero.z * tSVector.z);
TSVector.Add(ref result.min, ref aabb.min, out result.min);
TSVector.Add(ref result.min, ref tSVector, out result.max);
FP eN = FP.EN5;
TSVector tSVector2;
TSVector.Multiply(ref tSVector, eN, out tSVector2);
TSVector.Subtract(ref result.min, ref tSVector2, out result.min);
TSVector.Add(ref result.max, ref tSVector2, out result.max);
}
public void ApplyImpulse(TSVector impulse)
{
bool flag = this.isStatic;
if (flag)
{
throw new InvalidOperationException("Can't apply an impulse to a static body.");
}
TSVector tSVector;
TSVector.Multiply(ref impulse, this.inverseMass, out tSVector);
TSVector.Add(ref this.linearVelocity, ref tSVector, out this.linearVelocity);
}
private void IntegrateCallback(object obj)
{
RigidBody rigidBody = obj as RigidBody;
TSVector tSVector;
TSVector.Multiply(ref rigidBody.linearVelocity, this.timestep, out tSVector);
TSVector.Add(ref tSVector, ref rigidBody.position, out rigidBody.position);
bool flag = !rigidBody.isParticle;
if (flag)
{
FP magnitude = rigidBody.angularVelocity.magnitude;
bool flag2 = magnitude < FP.EN3;
TSVector tSVector2;
if (flag2)
{
TSVector.Multiply(ref rigidBody.angularVelocity, FP.Half * this.timestep - this.timestep * this.timestep * this.timestep * (2082 * FP.EN6) * magnitude * magnitude, out tSVector2);
}
else
{
TSVector.Multiply(ref rigidBody.angularVelocity, FP.Sin(FP.Half * magnitude * this.timestep) / magnitude, out tSVector2);
}
TSQuaternion tSQuaternion = new TSQuaternion(tSVector2.x, tSVector2.y, tSVector2.z, FP.Cos(magnitude * this.timestep * FP.Half));
TSQuaternion tSQuaternion2;
TSQuaternion.CreateFromMatrix(ref rigidBody.orientation, out tSQuaternion2);
TSQuaternion.Multiply(ref tSQuaternion, ref tSQuaternion2, out tSQuaternion);
tSQuaternion.Normalize();
TSMatrix.CreateFromQuaternion(ref tSQuaternion, out rigidBody.orientation);
}
bool flag3 = (rigidBody.Damping & RigidBody.DampingType.Linear) > RigidBody.DampingType.None;
if (flag3)
{
TSVector.Multiply(ref rigidBody.linearVelocity, this.currentLinearDampFactor, out rigidBody.linearVelocity);
}
bool flag4 = (rigidBody.Damping & RigidBody.DampingType.Angular) > RigidBody.DampingType.None;
if (flag4)
{
TSVector.Multiply(ref rigidBody.angularVelocity, this.currentAngularDampFactor, out rigidBody.angularVelocity);
}
rigidBody.Update();
bool flag5 = this.CollisionSystem.EnableSpeculativeContacts || rigidBody.EnableSpeculativeContacts;
if (flag5)
{
rigidBody.SweptExpandBoundingBox(this.timestep);
}
}
public void ApplyImpulse(TSVector impulse, TSVector relativePosition)
{
bool flag = this.isStatic;
if (flag)
{
throw new InvalidOperationException("Can't apply an impulse to a static body.");
}
TSVector tSVector;
TSVector.Multiply(ref impulse, this.inverseMass, out tSVector);
TSVector.Add(ref this.linearVelocity, ref tSVector, out this.linearVelocity);
TSVector.Cross(ref relativePosition, ref impulse, out tSVector);
TSVector.Transform(ref tSVector, ref this.invInertiaWorld, out tSVector);
TSVector.Add(ref this.angularVelocity, ref tSVector, out this.angularVelocity);
}
public override void Iterate()
{
bool flag = this.skipConstraint;
if (!flag)
{
FP x = TSVector.Dot(ref this.body1.linearVelocity, ref this.jacobian[0]);
x += TSVector.Dot(ref this.body2.linearVelocity, ref this.jacobian[1]);
FP y = this.accumulatedImpulse * this.softnessOverDt;
FP fP = -this.effectiveMass * (x + this.bias + y);
bool flag2 = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMinimumDistance;
if (flag2)
{
FP y2 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Max(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y2;
}
else
{
bool flag3 = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMaximumDistance;
if (flag3)
{
FP y3 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Min(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y3;
}
else
{
this.accumulatedImpulse += fP;
}
}
bool flag4 = !this.body1.isStatic;
if (flag4)
{
TSVector tSVector;
TSVector.Multiply(ref this.jacobian[0], fP * this.body1.inverseMass, out tSVector);
TSVector.Add(ref tSVector, ref this.body1.linearVelocity, out this.body1.linearVelocity);
}
bool flag5 = !this.body2.isStatic;
if (flag5)
{
TSVector tSVector;
TSVector.Multiply(ref this.jacobian[1], fP * this.body2.inverseMass, out tSVector);
TSVector.Add(ref tSVector, ref this.body2.linearVelocity, out this.body2.linearVelocity);
}
}
}
private void FindSupportPoints(RigidBody body1, RigidBody body2, Shape shape1, Shape shape2, ref TSVector point, ref TSVector normal, out TSVector point1, out TSVector point2)
{
TSVector tSVector;
TSVector.Negate(ref normal, out tSVector);
TSVector tSVector2;
this.SupportMapping(body1, shape1, ref tSVector, out tSVector2);
TSVector tSVector3;
this.SupportMapping(body2, shape2, ref normal, out tSVector3);
TSVector.Subtract(ref tSVector2, ref point, out tSVector2);
TSVector.Subtract(ref tSVector3, ref point, out tSVector3);
FP scaleFactor = TSVector.Dot(ref tSVector2, ref normal);
FP scaleFactor2 = TSVector.Dot(ref tSVector3, ref normal);
TSVector.Multiply(ref normal, scaleFactor, out tSVector2);
TSVector.Multiply(ref normal, scaleFactor2, out tSVector3);
TSVector.Add(ref point, ref tSVector2, out point1);
TSVector.Add(ref point, ref tSVector3, out point2);
}
public override void SetCurrentShape(int index)
{
this.vecs[0] = this.octree.GetVertex(this.octree.tris[this.potentialTriangles[index]].I0);
this.vecs[1] = this.octree.GetVertex(this.octree.tris[this.potentialTriangles[index]].I1);
this.vecs[2] = this.octree.GetVertex(this.octree.tris[this.potentialTriangles[index]].I2);
TSVector geomCen = this.vecs[0];
TSVector.Add(ref geomCen, ref this.vecs[1], out geomCen);
TSVector.Add(ref geomCen, ref this.vecs[2], out geomCen);
TSVector.Multiply(ref geomCen, FP.One / (3 * FP.One), out geomCen);
this.geomCen = geomCen;
TSVector.Subtract(ref this.vecs[1], ref this.vecs[0], out geomCen);
TSVector.Subtract(ref this.vecs[2], ref this.vecs[0], out this.normal);
TSVector.Cross(ref geomCen, ref this.normal, out this.normal);
bool flag = this.flipNormal;
if (flag)
{
this.normal.Negate();
}
}
public override void SetCurrentShape(int index)
{
bool flag = false;
bool flag2 = index >= this.numX * this.numZ;
if (flag2)
{
flag = true;
index -= this.numX * this.numZ;
}
int num = index % this.numX;
int num2 = index / this.numX;
bool flag3 = flag;
if (flag3)
{
this.points[0].Set((this.minX + num) * this.scaleX, this.heights[this.minX + num, this.minZ + num2], (this.minZ + num2) * this.scaleZ);
this.points[1].Set((this.minX + num + 1) * this.scaleX, this.heights[this.minX + num + 1, this.minZ + num2], (this.minZ + num2) * this.scaleZ);
this.points[2].Set((this.minX + num) * this.scaleX, this.heights[this.minX + num, this.minZ + num2 + 1], (this.minZ + num2 + 1) * this.scaleZ);
}
else
{
this.points[0].Set((this.minX + num + 1) * this.scaleX, this.heights[this.minX + num + 1, this.minZ + num2], (this.minZ + num2) * this.scaleZ);
this.points[1].Set((this.minX + num + 1) * this.scaleX, this.heights[this.minX + num + 1, this.minZ + num2 + 1], (this.minZ + num2 + 1) * this.scaleZ);
this.points[2].Set((this.minX + num) * this.scaleX, this.heights[this.minX + num, this.minZ + num2 + 1], (this.minZ + num2 + 1) * this.scaleZ);
}
TSVector geomCen = this.points[0];
TSVector.Add(ref geomCen, ref this.points[1], out geomCen);
TSVector.Add(ref geomCen, ref this.points[2], out geomCen);
TSVector.Multiply(ref geomCen, FP.One / (3 * FP.One), out geomCen);
this.geomCen = geomCen;
TSVector.Subtract(ref this.points[1], ref this.points[0], out geomCen);
TSVector.Subtract(ref this.points[2], ref this.points[0], out this.normal);
TSVector.Cross(ref geomCen, ref this.normal, out this.normal);
}
public override void SupportMapping(ref TSVector direction, out TSVector result)
{
result = direction;
result.Normalize();
TSVector.Multiply(ref result, this.radius, out result);
}
public static bool Raycast(ISupportMappable support, ref TSMatrix orientation, ref TSMatrix invOrientation, ref TSVector position, ref TSVector origin, ref TSVector direction, out FP fraction, out TSVector normal)
{
VoronoiSimplexSolver @new = GJKCollide.simplexSolverPool.GetNew();
@new.Reset();
normal = TSVector.zero;
fraction = FP.MaxValue;
FP fP = FP.Zero;
TSVector tSVector = direction;
TSVector p = origin;
TSVector tSVector2;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref tSVector, out tSVector2);
TSVector tSVector3;
TSVector.Subtract(ref p, ref tSVector2, out tSVector3);
int num = 15;
FP x = tSVector3.sqrMagnitude;
FP eN = FP.EN6;
bool result;
while (x > eN && num-- != 0)
{
TSVector q;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref tSVector3, out q);
TSVector w;
TSVector.Subtract(ref p, ref q, out w);
FP x2 = TSVector.Dot(ref tSVector3, ref w);
bool flag = x2 > FP.Zero;
if (flag)
{
FP fP2 = TSVector.Dot(ref tSVector3, ref tSVector);
bool flag2 = fP2 >= -TSMath.Epsilon;
if (flag2)
{
GJKCollide.simplexSolverPool.GiveBack(@new);
result = false;
return(result);
}
fP -= x2 / fP2;
TSVector.Multiply(ref tSVector, fP, out p);
TSVector.Add(ref origin, ref p, out p);
TSVector.Subtract(ref p, ref q, out w);
normal = tSVector3;
}
bool flag3 = [email protected](w);
if (flag3)
{
@new.AddVertex(w, p, q);
}
bool flag4 = @new.Closest(out tSVector3);
if (flag4)
{
x = tSVector3.sqrMagnitude;
}
else
{
x = FP.Zero;
}
}
TSVector tSVector4;
TSVector value;
@new.ComputePoints(out tSVector4, out value);
value -= origin;
fraction = value.magnitude / direction.magnitude;
bool flag5 = normal.sqrMagnitude > TSMath.Epsilon * TSMath.Epsilon;
if (flag5)
{
normal.Normalize();
}
GJKCollide.simplexSolverPool.GiveBack(@new);
result = true;
return(result);
}
public static bool Detect(ISupportMappable support1, ISupportMappable support2, ref TSMatrix orientation1, ref TSMatrix orientation2, ref TSVector position1, ref TSVector position2, out TSVector point, out TSVector normal, out FP penetration)
{
TSVector zero = TSVector.zero;
TSVector zero2 = TSVector.zero;
TSVector zero3 = TSVector.zero;
point = (normal = TSVector.zero);
penetration = FP.Zero;
TSVector tSVector;
support1.SupportCenter(out tSVector);
TSVector.Transform(ref tSVector, ref orientation1, out tSVector);
TSVector.Add(ref position1, ref tSVector, out tSVector);
TSVector tSVector2;
support2.SupportCenter(out tSVector2);
TSVector.Transform(ref tSVector2, ref orientation2, out tSVector2);
TSVector.Add(ref position2, ref tSVector2, out tSVector2);
TSVector tSVector3;
TSVector.Subtract(ref tSVector2, ref tSVector, out tSVector3);
bool flag = tSVector3.IsNearlyZero();
if (flag)
{
tSVector3 = new TSVector(FP.EN4, 0, 0);
}
TSVector tSVector4 = tSVector3;
TSVector.Negate(ref tSVector3, out normal);
TSVector tSVector5;
XenoCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector4, out tSVector5);
TSVector tSVector6;
XenoCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out tSVector6);
TSVector tSVector7;
TSVector.Subtract(ref tSVector6, ref tSVector5, out tSVector7);
bool flag2 = TSVector.Dot(ref tSVector7, ref normal) <= FP.Zero;
bool result;
if (flag2)
{
result = false;
}
else
{
TSVector.Cross(ref tSVector7, ref tSVector3, out normal);
bool flag3 = normal.IsNearlyZero();
if (flag3)
{
TSVector.Subtract(ref tSVector7, ref tSVector3, out normal);
normal.Normalize();
point = tSVector5;
TSVector.Add(ref point, ref tSVector6, out point);
TSVector.Multiply(ref point, FP.Half, out point);
TSVector tSVector8;
TSVector.Subtract(ref tSVector6, ref tSVector5, out tSVector8);
penetration = TSVector.Dot(ref tSVector8, ref normal);
result = true;
}
else
{
TSVector.Negate(ref normal, out tSVector4);
TSVector tSVector9;
XenoCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector4, out tSVector9);
TSVector tSVector10;
XenoCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out tSVector10);
TSVector tSVector11;
TSVector.Subtract(ref tSVector10, ref tSVector9, out tSVector11);
bool flag4 = TSVector.Dot(ref tSVector11, ref normal) <= FP.Zero;
if (flag4)
{
result = false;
}
else
{
TSVector tSVector8;
TSVector.Subtract(ref tSVector7, ref tSVector3, out tSVector8);
TSVector tSVector12;
TSVector.Subtract(ref tSVector11, ref tSVector3, out tSVector12);
TSVector.Cross(ref tSVector8, ref tSVector12, out normal);
FP x = TSVector.Dot(ref normal, ref tSVector3);
bool flag5 = x > FP.Zero;
if (flag5)
{
TSVector.Swap(ref tSVector7, ref tSVector11);
TSVector.Swap(ref tSVector5, ref tSVector9);
TSVector.Swap(ref tSVector6, ref tSVector10);
TSVector.Negate(ref normal, out normal);
Debug.Log("normal: " + normal);
}
int num = 0;
int num2 = 0;
bool flag6 = false;
while (true)
{
bool flag7 = num2 > 34;
if (flag7)
{
break;
}
num2++;
TSVector.Negate(ref normal, out tSVector4);
TSVector tSVector13;
XenoCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector4, out tSVector13);
TSVector tSVector14;
XenoCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out tSVector14);
TSVector tSVector15;
TSVector.Subtract(ref tSVector14, ref tSVector13, out tSVector15);
bool flag8 = TSVector.Dot(ref tSVector15, ref normal) <= FP.Zero;
if (flag8)
{
goto Block_7;
}
TSVector.Cross(ref tSVector7, ref tSVector15, out tSVector8);
bool flag9 = TSVector.Dot(ref tSVector8, ref tSVector3) < FP.Zero;
if (flag9)
{
tSVector11 = tSVector15;
tSVector9 = tSVector13;
tSVector10 = tSVector14;
TSVector.Subtract(ref tSVector7, ref tSVector3, out tSVector8);
TSVector.Subtract(ref tSVector15, ref tSVector3, out tSVector12);
TSVector.Cross(ref tSVector8, ref tSVector12, out normal);
}
else
{
TSVector.Cross(ref tSVector15, ref tSVector11, out tSVector8);
bool flag10 = TSVector.Dot(ref tSVector8, ref tSVector3) < FP.Zero;
if (!flag10)
{
goto IL_385;
}
tSVector7 = tSVector15;
tSVector5 = tSVector13;
tSVector6 = tSVector14;
TSVector.Subtract(ref tSVector15, ref tSVector3, out tSVector8);
TSVector.Subtract(ref tSVector11, ref tSVector3, out tSVector12);
TSVector.Cross(ref tSVector8, ref tSVector12, out normal);
}
}
result = false;
return(result);
Block_7:
result = false;
return(result);
IL_385:
while (true)
{
num++;
TSVector.Subtract(ref tSVector11, ref tSVector7, out tSVector8);
TSVector tSVector15;
TSVector.Subtract(ref tSVector15, ref tSVector7, out tSVector12);
TSVector.Cross(ref tSVector8, ref tSVector12, out normal);
bool flag11 = normal.IsNearlyZero();
if (flag11)
{
break;
}
normal.Normalize();
FP x2 = TSVector.Dot(ref normal, ref tSVector7);
bool flag12 = x2 >= 0 && !flag6;
if (flag12)
{
flag6 = true;
}
TSVector.Negate(ref normal, out tSVector4);
XenoCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector4, out zero);
XenoCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref normal, out zero2);
TSVector.Subtract(ref zero2, ref zero, out zero3);
TSVector.Subtract(ref zero3, ref tSVector15, out tSVector8);
FP x3 = TSVector.Dot(ref tSVector8, ref normal);
penetration = TSVector.Dot(ref zero3, ref normal);
bool flag13 = x3 <= XenoCollide.CollideEpsilon || penetration <= FP.Zero || num > 34;
if (flag13)
{
goto Block_15;
}
TSVector.Cross(ref zero3, ref tSVector3, out tSVector8);
FP x4 = TSVector.Dot(ref tSVector8, ref tSVector7);
bool flag14 = x4 >= FP.Zero;
if (flag14)
{
x4 = TSVector.Dot(ref tSVector8, ref tSVector11);
bool flag15 = x4 >= FP.Zero;
if (flag15)
{
tSVector7 = zero3;
tSVector5 = zero;
tSVector6 = zero2;
}
else
{
tSVector15 = zero3;
TSVector tSVector13 = zero;
TSVector tSVector14 = zero2;
}
}
else
{
x4 = TSVector.Dot(ref tSVector8, ref tSVector15);
bool flag16 = x4 >= FP.Zero;
if (flag16)
{
tSVector11 = zero3;
tSVector9 = zero;
tSVector10 = zero2;
}
else
{
tSVector7 = zero3;
tSVector5 = zero;
tSVector6 = zero2;
}
}
}
result = true;
return(result);
Block_15:
bool flag17 = flag6;
if (flag17)
{
TSVector.Cross(ref tSVector7, ref tSVector11, out tSVector8);
TSVector tSVector15;
FP fP = TSVector.Dot(ref tSVector8, ref tSVector15);
TSVector.Cross(ref tSVector15, ref tSVector11, out tSVector8);
FP fP2 = TSVector.Dot(ref tSVector8, ref tSVector3);
TSVector.Cross(ref tSVector3, ref tSVector7, out tSVector8);
FP fP3 = TSVector.Dot(ref tSVector8, ref tSVector15);
TSVector.Cross(ref tSVector11, ref tSVector7, out tSVector8);
FP fP4 = TSVector.Dot(ref tSVector8, ref tSVector3);
FP fP5 = fP + fP2 + fP3 + fP4;
bool flag18 = fP5 <= 0;
if (flag18)
{
fP = 0;
TSVector.Cross(ref tSVector11, ref tSVector15, out tSVector8);
fP2 = TSVector.Dot(ref tSVector8, ref normal);
TSVector.Cross(ref tSVector15, ref tSVector7, out tSVector8);
fP3 = TSVector.Dot(ref tSVector8, ref normal);
TSVector.Cross(ref tSVector7, ref tSVector11, out tSVector8);
fP4 = TSVector.Dot(ref tSVector8, ref normal);
fP5 = fP2 + fP3 + fP4;
}
FP x5 = FP.One / fP5;
TSVector.Multiply(ref tSVector, fP, out point);
TSVector.Multiply(ref tSVector5, fP2, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector.Multiply(ref tSVector9, fP3, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector tSVector13;
TSVector.Multiply(ref tSVector13, fP4, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector.Multiply(ref tSVector2, fP, out tSVector12);
TSVector.Add(ref tSVector12, ref point, out point);
TSVector.Multiply(ref tSVector6, fP2, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector.Multiply(ref tSVector10, fP3, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector tSVector14;
TSVector.Multiply(ref tSVector14, fP4, out tSVector8);
TSVector.Add(ref point, ref tSVector8, out point);
TSVector.Multiply(ref point, x5 * FP.Half, out point);
}
result = flag6;
}
}
}
return(result);
}
