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>
/// Normalizes the given vector.
/// </summary>
/// <param name="value">The vector which should be normalized.</param>
/// <returns>A normalized vector.</returns>
#region public static JVector Normalize(JVector value)
public static TSVector Normalize(TSVector value)
{
TSVector result;
TSVector.Normalize(ref value, 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 override void PrepareForIteration(FP timestep)
{
TSVector.Transform(ref this.localAnchor1, ref this.body1.orientation, out this.r1);
TSVector.Transform(ref this.localAnchor2, ref this.body2.orientation, out this.r2);
TSVector value;
TSVector.Add(ref this.body1.position, ref this.r1, out value);
TSVector value2;
TSVector.Add(ref this.body2.position, ref this.r2, out value2);
TSVector tSVector;
TSVector.Subtract(ref value2, ref value, out tSVector);
FP x = tSVector.magnitude - this.distance;
bool flag = this.behavior == PointPointDistance.DistanceBehavior.LimitMaximumDistance && x <= FP.Zero;
if (flag)
{
this.skipConstraint = true;
}
else
{
bool flag2 = this.behavior == PointPointDistance.DistanceBehavior.LimitMinimumDistance && x >= FP.Zero;
if (flag2)
{
this.skipConstraint = true;
}
else
{
this.skipConstraint = false;
TSVector value3 = value2 - value;
bool flag3 = value3.sqrMagnitude != FP.Zero;
if (flag3)
{
value3.Normalize();
}
this.jacobian[0] = -FP.One * value3;
this.jacobian[1] = -FP.One * (this.r1 % value3);
this.jacobian[2] = FP.One * value3;
this.jacobian[3] = this.r2 % value3;
this.effectiveMass = this.body1.inverseMass + this.body2.inverseMass + TSVector.Transform(this.jacobian[1], this.body1.invInertiaWorld) * this.jacobian[1] + TSVector.Transform(this.jacobian[3], this.body2.invInertiaWorld) * this.jacobian[3];
this.softnessOverDt = this.softness / timestep;
this.effectiveMass += this.softnessOverDt;
this.effectiveMass = FP.One / this.effectiveMass;
this.bias = x * this.biasFactor * (FP.One / timestep);
bool flag4 = !this.body1.isStatic;
if (flag4)
{
this.body1.linearVelocity += this.body1.inverseMass * this.accumulatedImpulse * this.jacobian[0];
this.body1.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[1], this.body1.invInertiaWorld);
}
bool flag5 = !this.body2.isStatic;
if (flag5)
{
this.body2.linearVelocity += this.body2.inverseMass * this.accumulatedImpulse * this.jacobian[2];
this.body2.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[3], this.body2.invInertiaWorld);
}
}
}
}
public void SupportMapping(ref TSVector direction, out TSVector result)
{
FP y = TSVector.Dot(ref this.owner.points[this.indices.I0].position, ref direction);
FP fP = TSVector.Dot(ref this.owner.points[this.indices.I1].position, ref direction);
TSVector position = this.owner.points[this.indices.I0].position;
bool flag = fP > y;
if (flag)
{
y = fP;
position = this.owner.points[this.indices.I1].position;
}
fP = TSVector.Dot(ref this.owner.points[this.indices.I2].position, ref direction);
bool flag2 = fP > y;
if (flag2)
{
position = this.owner.points[this.indices.I2].position;
}
TSVector tSVector;
TSVector.Normalize(ref direction, out tSVector);
tSVector *= this.owner.triangleExpansion;
result = position + tSVector;
}
public override void SupportMapping(ref TSVector direction, out TSVector result)
{
TSVector tSVector;
TSVector.Normalize(ref direction, out tSVector);
tSVector *= this.sphericalExpansion;
FP y = TSVector.Dot(ref this.vecs[0], ref direction);
int num = 0;
FP fP = TSVector.Dot(ref this.vecs[1], ref direction);
bool flag = fP > y;
if (flag)
{
y = fP;
num = 1;
}
fP = TSVector.Dot(ref this.vecs[2], ref direction);
bool flag2 = fP > y;
if (flag2)
{
num = 2;
}
result = this.vecs[num] + tSVector;
}
public PointOnLine(RigidBody body1, RigidBody body2, TSVector lineStartPointBody1, TSVector pointBody2) : base(body1, body2)
{
TSVector.Subtract(ref lineStartPointBody1, ref body1.position, out this.localAnchor1);
TSVector.Subtract(ref pointBody2, ref body2.position, out this.localAnchor2);
TSVector.Transform(ref this.localAnchor1, ref body1.invOrientation, out this.localAnchor1);
TSVector.Transform(ref this.localAnchor2, ref body2.invOrientation, out this.localAnchor2);
this.lineNormal = TSVector.Normalize(lineStartPointBody1 - pointBody2);
}
public override int Prepare(ref TSVector rayOrigin, ref TSVector rayDelta)
{
this.potentialTriangles.Clear();
TSVector tSVector;
TSVector.Normalize(ref rayDelta, out tSVector);
tSVector = rayDelta + tSVector * this.sphericalExpansion;
this.octree.GetTrianglesIntersectingRay(this.potentialTriangles, rayOrigin, tSVector);
return(this.potentialTriangles.Count);
}
public override int Prepare(ref TSVector rayOrigin, ref TSVector rayDelta)
{
TSBBox smallBox = TSBBox.SmallBox;
TSVector value;
TSVector.Normalize(ref rayDelta, out value);
value = rayOrigin + rayDelta + value * this.sphericalExpansion;
smallBox.AddPoint(ref rayOrigin);
smallBox.AddPoint(ref value);
return(this.Prepare(ref smallBox));
}
public override void PrepareForIteration(FP timestep)
{
TSVector.Transform(ref this.localAnchor1, ref this.body1.orientation, out this.r1);
TSVector.Transform(ref this.localAnchor2, ref this.body2.orientation, out this.r2);
TSVector tSVector;
TSVector.Add(ref this.body1.position, ref this.r1, out tSVector);
TSVector tSVector2;
TSVector.Add(ref this.body2.position, ref this.r2, out tSVector2);
TSVector tSVector3;
TSVector.Subtract(ref tSVector2, ref tSVector, out tSVector3);
TSVector tSVector4 = TSVector.Transform(this.lineNormal, this.body1.orientation);
tSVector4.Normalize();
TSVector tSVector5 = (tSVector - tSVector2) % tSVector4;
bool flag = tSVector5.sqrMagnitude != FP.Zero;
if (flag)
{
tSVector5.Normalize();
}
tSVector5 %= tSVector4;
this.jacobian[0] = tSVector5;
this.jacobian[1] = (this.r1 + tSVector2 - tSVector) % tSVector5;
this.jacobian[2] = -FP.One * tSVector5;
this.jacobian[3] = -FP.One * this.r2 % tSVector5;
this.effectiveMass = this.body1.inverseMass + this.body2.inverseMass + TSVector.Transform(this.jacobian[1], this.body1.invInertiaWorld) * this.jacobian[1] + TSVector.Transform(this.jacobian[3], this.body2.invInertiaWorld) * this.jacobian[3];
this.softnessOverDt = this.softness / timestep;
this.effectiveMass += this.softnessOverDt;
bool flag2 = this.effectiveMass != 0;
if (flag2)
{
this.effectiveMass = FP.One / this.effectiveMass;
}
this.bias = -(tSVector4 % (tSVector2 - tSVector)).magnitude * this.biasFactor * (FP.One / timestep);
bool flag3 = !this.body1.isStatic;
if (flag3)
{
this.body1.linearVelocity += this.body1.inverseMass * this.accumulatedImpulse * this.jacobian[0];
this.body1.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[1], this.body1.invInertiaWorld);
}
bool flag4 = !this.body2.isStatic;
if (flag4)
{
this.body2.linearVelocity += this.body2.inverseMass * this.accumulatedImpulse * this.jacobian[2];
this.body2.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[3], this.body2.invInertiaWorld);
}
}
public static bool ClosestPoints(ISupportMappable support1, ISupportMappable support2, ref TSMatrix orientation1, ref TSMatrix orientation2, ref TSVector position1, ref TSVector position2, out TSVector p1, out TSVector p2, out TSVector normal)
{
VoronoiSimplexSolver @new = GJKCollide.simplexSolverPool.GetNew();
@new.Reset();
p1 = (p2 = TSVector.zero);
TSVector value = position1 - position2;
TSVector tSVector = TSVector.Negate(value);
TSVector tSVector2;
GJKCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector, out tSVector2);
TSVector tSVector3;
GJKCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref value, out tSVector3);
TSVector tSVector4 = tSVector2 - tSVector3;
normal = TSVector.zero;
int num = 15;
FP x = tSVector4.sqrMagnitude;
FP eN = FP.EN5;
while (x > eN && num-- != 0)
{
TSVector tSVector5 = TSVector.Negate(tSVector4);
GJKCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector5, out tSVector2);
GJKCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref tSVector4, out tSVector3);
TSVector w = tSVector2 - tSVector3;
bool flag = [email protected](w);
if (flag)
{
@new.AddVertex(w, tSVector2, tSVector3);
}
bool flag2 = @new.Closest(out tSVector4);
if (flag2)
{
x = tSVector4.sqrMagnitude;
normal = tSVector4;
}
else
{
x = FP.Zero;
}
}
@new.ComputePoints(out p1, out p2);
bool flag3 = normal.sqrMagnitude > TSMath.Epsilon * TSMath.Epsilon;
if (flag3)
{
normal.Normalize();
}
GJKCollide.simplexSolverPool.GiveBack(@new);
return(true);
}
public static TSQuaternion AngleAxis(FP angle, TSVector axis)
{
axis *= FP.Deg2Rad;
axis.Normalize();
FP fP = angle * FP.Deg2Rad * FP.Half;
FP fP2 = FP.Sin(fP);
TSQuaternion result;
result.x = axis.x * fP2;
result.y = axis.y * fP2;
result.z = axis.z * fP2;
result.w = FP.Cos(fP);
return(result);
}
public override void PrepareForIteration(FP timestep)
{
TSVector tSVector;
TSVector.Subtract(ref this.body2.position, ref this.body1.position, out tSVector);
FP x = tSVector.magnitude - this.distance;
bool flag = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMaximumDistance && x <= FP.Zero;
if (flag)
{
this.skipConstraint = true;
}
else
{
bool flag2 = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMinimumDistance && x >= FP.Zero;
if (flag2)
{
this.skipConstraint = true;
}
else
{
this.skipConstraint = false;
TSVector value = tSVector;
bool flag3 = value.sqrMagnitude != FP.Zero;
if (flag3)
{
value.Normalize();
}
this.jacobian[0] = -FP.One * value;
this.jacobian[1] = FP.One * value;
this.effectiveMass = this.body1.inverseMass + this.body2.inverseMass;
this.softnessOverDt = this.softness / timestep;
this.effectiveMass += this.softnessOverDt;
this.effectiveMass = FP.One / this.effectiveMass;
this.bias = x * this.biasFactor * (FP.One / timestep);
bool flag4 = !this.body1.isStatic;
if (flag4)
{
this.body1.linearVelocity += this.body1.inverseMass * this.accumulatedImpulse * this.jacobian[0];
}
bool flag5 = !this.body2.isStatic;
if (flag5)
{
this.body2.linearVelocity += this.body2.inverseMass * this.accumulatedImpulse * this.jacobian[1];
}
}
}
}
public static TSQuaternion AngleAxis(FP angle, TSVector axis)
{
axis = axis * FP.Deg2Rad;
axis.Normalize();
FP halfAngle = angle * FP.Deg2Rad * FP.Half;
TSQuaternion rotation;
FP sin = FP.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = FP.Cos(halfAngle);
return(rotation);
}
public override void PrepareForIteration(FP timestep)
{
TSVector.Transform(ref this.localAnchor1, ref this.body1.orientation, out this.r1);
TSVector.Transform(ref this.localAnchor2, ref this.body2.orientation, out this.r2);
TSVector value;
TSVector.Add(ref this.body1.position, ref this.r1, out value);
TSVector value2;
TSVector.Add(ref this.body2.position, ref this.r2, out value2);
TSVector tSVector;
TSVector.Subtract(ref value2, ref value, out tSVector);
FP magnitude = tSVector.magnitude;
TSVector value3 = value2 - value;
bool flag = value3.sqrMagnitude != FP.Zero;
if (flag)
{
value3.Normalize();
}
this.jacobian[0] = -FP.One * value3;
this.jacobian[1] = -FP.One * (this.r1 % value3);
this.jacobian[2] = FP.One * value3;
this.jacobian[3] = this.r2 % value3;
this.effectiveMass = this.body1.inverseMass + this.body2.inverseMass + TSVector.Transform(this.jacobian[1], this.body1.invInertiaWorld) * this.jacobian[1] + TSVector.Transform(this.jacobian[3], this.body2.invInertiaWorld) * this.jacobian[3];
this.softnessOverDt = this.softness / timestep;
this.effectiveMass += this.softnessOverDt;
this.effectiveMass = FP.One / this.effectiveMass;
this.bias = magnitude * this.biasFactor * (FP.One / timestep);
bool flag2 = !this.body1.isStatic;
if (flag2)
{
this.body1.linearVelocity += this.body1.inverseMass * this.accumulatedImpulse * this.jacobian[0];
this.body1.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[1], this.body1.invInertiaWorld);
}
bool flag3 = !this.body2.isStatic;
if (flag3)
{
this.body2.linearVelocity += this.body2.inverseMass * this.accumulatedImpulse * this.jacobian[2];
this.body2.angularVelocity += TSVector.Transform(this.accumulatedImpulse * this.jacobian[3], this.body2.invInertiaWorld);
}
}
public static void LookAt(out TSMatrix result, TSVector position, TSVector target)
{
TSVector tSVector = target - position;
tSVector.Normalize();
TSVector tSVector2 = TSVector.Cross(TSVector.up, tSVector);
tSVector2.Normalize();
TSVector tSVector3 = TSVector.Cross(tSVector, tSVector2);
result.M11 = tSVector2.x;
result.M21 = tSVector3.x;
result.M31 = tSVector.x;
result.M12 = tSVector2.y;
result.M22 = tSVector3.y;
result.M32 = tSVector.y;
result.M13 = tSVector2.z;
result.M23 = tSVector3.z;
result.M33 = tSVector.z;
}
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 virtual void MakeHull(ref List <TSVector> triangleList, int generationThreshold)
{
FP zero = FP.Zero;
bool flag = generationThreshold < 0;
if (flag)
{
generationThreshold = 4;
}
Stack <Shape.ClipTriangle> stack = new Stack <Shape.ClipTriangle>();
TSVector[] array = new TSVector[]
{
new TSVector(-1, 0, 0),
new TSVector(1, 0, 0),
new TSVector(0, -1, 0),
new TSVector(0, 1, 0),
new TSVector(0, 0, -1),
new TSVector(0, 0, 1)
};
int[,] array2 = new int[, ]
{
{
5,
1,
3
},
{
4,
3,
1
},
{
3,
4,
0
},
{
0,
5,
3
},
{
5,
2,
1
},
{
4,
1,
2
},
{
2,
0,
4
},
{
0,
2,
5
}
};
for (int i = 0; i < 8; i++)
{
stack.Push(new Shape.ClipTriangle
{
n1 = array[array2[i, 0]],
n2 = array[array2[i, 1]],
n3 = array[array2[i, 2]],
generation = 0
});
}
while (stack.Count > 0)
{
Shape.ClipTriangle clipTriangle = stack.Pop();
TSVector tSVector;
this.SupportMapping(ref clipTriangle.n1, out tSVector);
TSVector tSVector2;
this.SupportMapping(ref clipTriangle.n2, out tSVector2);
TSVector tSVector3;
this.SupportMapping(ref clipTriangle.n3, out tSVector3);
FP sqrMagnitude = (tSVector2 - tSVector).sqrMagnitude;
FP sqrMagnitude2 = (tSVector3 - tSVector2).sqrMagnitude;
FP sqrMagnitude3 = (tSVector - tSVector3).sqrMagnitude;
bool flag2 = TSMath.Max(TSMath.Max(sqrMagnitude, sqrMagnitude2), sqrMagnitude3) > zero && clipTriangle.generation < generationThreshold;
if (flag2)
{
Shape.ClipTriangle item = default(Shape.ClipTriangle);
Shape.ClipTriangle item2 = default(Shape.ClipTriangle);
Shape.ClipTriangle item3 = default(Shape.ClipTriangle);
Shape.ClipTriangle item4 = default(Shape.ClipTriangle);
item.generation = clipTriangle.generation + 1;
item2.generation = clipTriangle.generation + 1;
item3.generation = clipTriangle.generation + 1;
item4.generation = clipTriangle.generation + 1;
item.n1 = clipTriangle.n1;
item2.n2 = clipTriangle.n2;
item3.n3 = clipTriangle.n3;
TSVector tSVector4 = FP.Half * (clipTriangle.n1 + clipTriangle.n2);
tSVector4.Normalize();
item.n2 = tSVector4;
item2.n1 = tSVector4;
item4.n3 = tSVector4;
tSVector4 = FP.Half * (clipTriangle.n2 + clipTriangle.n3);
tSVector4.Normalize();
item2.n3 = tSVector4;
item3.n2 = tSVector4;
item4.n1 = tSVector4;
tSVector4 = FP.Half * (clipTriangle.n3 + clipTriangle.n1);
tSVector4.Normalize();
item.n3 = tSVector4;
item3.n1 = tSVector4;
item4.n2 = tSVector4;
stack.Push(item);
stack.Push(item2);
stack.Push(item3);
stack.Push(item4);
}
else
{
bool flag3 = ((tSVector3 - tSVector) % (tSVector2 - tSVector)).sqrMagnitude > TSMath.Epsilon;
if (flag3)
{
triangleList.Add(tSVector);
triangleList.Add(tSVector2);
triangleList.Add(tSVector3);
}
}
}
}
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);
}
