public static bool ValidateTarget(VInt3 loc, VInt3 target, out VInt3 newTarget, out int nodeIndex)
{
newTarget = target;
nodeIndex = -1;
if (AstarPath.active == null)
{
return(false);
}
AstarData astarData = AstarPath.active.astarData;
if (astarData.GetLocatedByRasterizer(target) == null)
{
int edge = -1;
TriangleMeshNode node2 = astarData.IntersectByRasterizer(target, loc, out edge);
if (node2 == null)
{
return(false);
}
VInt3[] numArray = _staticVerts;
node2.GetPoints(out numArray[0], out numArray[1], out numArray[2]);
bool intersects = false;
VInt3 num2 = Polygon.IntersectionPoint(ref target, ref loc, ref numArray[edge], ref numArray[(edge + 1) % 3], out intersects);
if (!intersects)
{
return(false);
}
newTarget = num2;
}
return(true);
}
private static bool MakePointInTriangle(ref VInt3 result, TriangleMeshNode node, int minX, int maxX, int minZ, int maxZ, VInt3 offset)
{
VInt3 vInt;
VInt3 vInt2;
VInt3 vInt3;
node.GetPoints(out vInt, out vInt2, out vInt3);
long num = (long)(vInt2.x - vInt.x);
long num2 = (long)(vInt3.x - vInt2.x);
long num3 = (long)(vInt.x - vInt3.x);
long num4 = (long)(vInt2.z - vInt.z);
long num5 = (long)(vInt3.z - vInt2.z);
long num6 = (long)(vInt.z - vInt3.z);
for (int i = minX; i <= maxX; i++)
{
for (int j = minZ; j <= maxZ; j++)
{
int num7 = i + offset.x;
int num8 = j + offset.z;
if (num * (long)(num8 - vInt.z) - (long)(num7 - vInt.x) * num4 <= 0L && num2 * (long)(num8 - vInt2.z) - (long)(num7 - vInt2.x) * num5 <= 0L && num3 * (long)(num8 - vInt3.z) - (long)(num7 - vInt3.x) * num6 <= 0L)
{
result.x = num7;
result.z = num8;
return(true);
}
}
}
return(false);
}
private static bool MakePointInTriangle(ref VInt3 result, TriangleMeshNode node, int minX, int maxX, int minZ, int maxZ, VInt3 offset)
{
VInt3 num;
VInt3 num2;
VInt3 num3;
node.GetPoints(out num, out num2, out num3);
long num4 = num2.x - num.x;
long num5 = num3.x - num2.x;
long num6 = num.x - num3.x;
long num7 = num2.z - num.z;
long num8 = num3.z - num2.z;
long num9 = num.z - num3.z;
for (int i = minX; i <= maxX; i++)
{
for (int j = minZ; j <= maxZ; j++)
{
int num12 = i + offset.x;
int num13 = j + offset.z;
if (((((num4 * (num13 - num.z)) - ((num12 - num.x) * num7)) <= 0L) && (((num5 * (num13 - num2.z)) - ((num12 - num2.x) * num8)) <= 0L)) && (((num6 * (num13 - num3.z)) - ((num12 - num3.x) * num9)) <= 0L))
{
result.x = num12;
result.z = num13;
return(true);
}
}
}
return(false);
}
private static bool CheckNearestNodeIntersection(TriangleMeshNode node, VInt3 srcLoc, VInt3 destLoc, ref int edge)
{
if (!node.ContainsPoint(destLoc))
{
int num = 0;
VInt3[] staticVerts = PathfindingUtility._staticVerts;
node.GetPoints(out staticVerts[0], out staticVerts[1], out staticVerts[2]);
float num2 = 3.40282347E+38f;
int num3 = -1;
Vector3 vector = (Vector3)srcLoc;
Vector3 end = (Vector3)destLoc;
for (int i = 0; i < 3; i++)
{
if (Polygon.Intersects(staticVerts[i], staticVerts[(i + 1) % 3], srcLoc, destLoc))
{
num++;
bool inCondition;
Vector3 vector2 = Polygon.IntersectionPoint((Vector3)staticVerts[i], (Vector3)staticVerts[(i + 1) % 3], vector, end, out inCondition);
DebugHelper.Assert(inCondition);
float num4 = vector.XZSqrMagnitude(ref vector2);
if (num4 < num2)
{
num2 = num4;
num3 = i;
}
}
}
if (num != 2 || num3 == -1)
{
return(false);
}
edge = num3;
}
return(true);
}
private static float CalculateY(Vector3 pf, TriangleMeshNode node)
{
Vector3 vector;
Vector3 vector2;
Vector3 vector3;
node.GetPoints(out vector, out vector2, out vector3);
float num = ((vector2.z - vector3.z) * (vector.x - vector3.x)) + ((vector3.x - vector2.x) * (vector.z - vector3.z));
float num2 = 1f / num;
float num3 = ((vector2.z - vector3.z) * (pf.x - vector3.x)) + ((vector3.x - vector2.x) * (pf.z - vector3.z));
num3 *= num2;
float num4 = ((vector3.z - vector.z) * (pf.x - vector3.x)) + ((vector.x - vector3.x) * (pf.z - vector3.z));
num4 *= num2;
float num5 = (1f - num3) - num4;
return(((num3 * vector.y) + (num4 * vector2.y)) + (num5 * vector3.y));
}
private static float CalculateY(Vector3 pf, TriangleMeshNode node)
{
Vector3 vector;
Vector3 vector2;
Vector3 vector3;
node.GetPoints(ref vector, ref vector2, ref vector3);
float num = (vector2.z - vector3.z) * (vector.x - vector3.x) + (vector3.x - vector2.x) * (vector.z - vector3.z);
float num2 = 1f / num;
float num3 = (vector2.z - vector3.z) * (pf.x - vector3.x) + (vector3.x - vector2.x) * (pf.z - vector3.z);
num3 *= num2;
float num4 = (vector3.z - vector.z) * (pf.x - vector3.x) + (vector.x - vector3.x) * (pf.z - vector3.z);
num4 *= num2;
float num5 = 1f - num3 - num4;
return(num3 * vector.y + num4 * vector2.y + num5 * vector3.y);
}
private static float CalculateY_Clamped(Vector3 pf, TriangleMeshNode node)
{
Vector3 vector;
Vector3 vector2;
Vector3 vector3;
node.GetPoints(out vector, out vector2, out vector3);
float num = (vector2.z - vector3.z) * (vector.x - vector3.x) + (vector3.x - vector2.x) * (vector.z - vector3.z);
float num2 = 1f / num;
float num3 = (vector2.z - vector3.z) * (pf.x - vector3.x) + (vector3.x - vector2.x) * (pf.z - vector3.z);
num3 *= num2;
num3 = Mathf.Clamp01(num3);
float num4 = (vector3.z - vector.z) * (pf.x - vector3.x) + (vector.x - vector3.x) * (pf.z - vector3.z);
num4 *= num2;
num4 = Mathf.Clamp01(num4);
float num5 = Mathf.Clamp01(1f - num3 - num4);
return(num3 * vector.y + num4 * vector2.y + num5 * vector3.y);
}
public static bool ValidateTarget(VInt3 loc, VInt3 target, out VInt3 newTarget, out int nodeIndex)
{
newTarget = target;
nodeIndex = -1;
if (!AstarPath.active)
{
return(false);
}
AstarData astarData = AstarPath.active.astarData;
TriangleMeshNode locatedByRasterizer = astarData.GetLocatedByRasterizer(target);
if (locatedByRasterizer != null)
{
return(true);
}
int num = -1;
TriangleMeshNode triangleMeshNode = astarData.IntersectByRasterizer(target, loc, out num);
if (triangleMeshNode == null)
{
return(false);
}
VInt3[] staticVerts = PathfindingUtility._staticVerts;
triangleMeshNode.GetPoints(out staticVerts[0], out staticVerts[1], out staticVerts[2]);
bool flag = false;
VInt3 vInt = Polygon.IntersectionPoint(ref target, ref loc, ref staticVerts[num], ref staticVerts[(num + 1) % 3], out flag);
if (!flag)
{
return(false);
}
if (!PathfindingUtility.MakePointInTriangle(ref vInt, triangleMeshNode, -4, 4, -4, 4, VInt3.zero))
{
return(false);
}
newTarget = vInt;
return(true);
}
private static bool CheckNearestNodeIntersection(TriangleMeshNode node, VInt3 srcLoc, VInt3 destLoc, ref int edge)
{
if (!node.ContainsPoint(destLoc))
{
int num = 0;
VInt3[] numArray = _staticVerts;
node.GetPoints(out numArray[0], out numArray[1], out numArray[2]);
float maxValue = float.MaxValue;
int num3 = -1;
Vector3 vector = (Vector3)srcLoc;
Vector3 vector2 = (Vector3)destLoc;
for (int i = 0; i < 3; i++)
{
if (Polygon.Intersects(numArray[i], numArray[(i + 1) % 3], srcLoc, destLoc))
{
bool flag;
num++;
Vector3 b = Polygon.IntersectionPoint((Vector3)numArray[i], (Vector3)numArray[(i + 1) % 3], vector, vector2, out flag);
DebugHelper.Assert(flag);
float num5 = vector.XZSqrMagnitude(ref b);
if (num5 < maxValue)
{
maxValue = num5;
num3 = i;
}
}
}
if ((num != 2) || (num3 == -1))
{
object[] args = new object[] { srcLoc, destLoc, node.NodeIndex, acotrName };
string str = string.Format("Nav: Can't move, src:{0}, dest:{1}, node:{2}, actor:{3}", args);
return(false);
}
edge = num3;
}
return(true);
}
