private void AddGraphObstacles(Simulator sim, INavmesh ng)
{
int[] uses = new int[3];
Dictionary <int, int> outline = new Dictionary <int, int>();
Dictionary <int, Int3> vertexPositions = new Dictionary <int, Int3>();
HashSet <int> hasInEdge = new HashSet <int>();
ng.GetNodes(delegate(GraphNode _node)
{
TriangleMeshNode triangleMeshNode = _node as TriangleMeshNode;
uses[0] = (uses[1] = (uses[2] = 0));
if (triangleMeshNode != null)
{
for (int i = 0; i < triangleMeshNode.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode2 = triangleMeshNode.connections[i].node as TriangleMeshNode;
if (triangleMeshNode2 != null)
{
int num = triangleMeshNode.SharedEdge(triangleMeshNode2);
if (num != -1)
{
uses[num] = 1;
}
}
}
for (int j = 0; j < 3; j++)
{
if (uses[j] == 0)
{
int i2 = j;
int i3 = (j + 1) % triangleMeshNode.GetVertexCount();
outline[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertexIndex(i3);
hasInEdge.Add(triangleMeshNode.GetVertexIndex(i3));
vertexPositions[triangleMeshNode.GetVertexIndex(i2)] = triangleMeshNode.GetVertex(i2);
vertexPositions[triangleMeshNode.GetVertexIndex(i3)] = triangleMeshNode.GetVertex(i3);
}
}
}
});
List <Vector3> vertices = ListPool <Vector3> .Claim();
RVONavmesh.CompressContour(outline, hasInEdge, delegate(List <int> chain, bool cycle)
{
for (int i = 0; i < chain.Count; i++)
{
vertices.Add((Vector3)vertexPositions[chain[i]]);
}
this.obstacles.Add(sim.AddObstacle(vertices.ToArray(), this.wallHeight, cycle));
vertices.Clear();
});
ListPool <Vector3> .Release(vertices);
}
private static void FindAllContours(GridGraph grid, Action <Vector3[], bool> callback, GridNodeBase[] nodes = null)
{
if (grid is LayerGridGraph)
{
nodes = (nodes ?? (grid as LayerGridGraph).nodes);
}
nodes = (nodes ?? grid.nodes);
int[] neighbourXOffsets = grid.neighbourXOffsets;
int[] neighbourZOffsets = grid.neighbourZOffsets;
int[] array;
if (grid.neighbours == NumNeighbours.Six)
{
array = GridGraph.hexagonNeighbourIndices;
}
else
{
RuntimeHelpers.InitializeArray(array = new int[4], fieldof(< PrivateImplementationDetails >.$field - 02E4414E7DFA0F3AA2387EE8EA7AB31431CB406A).FieldHandle);
}
int[] array2 = array;
float num = (grid.neighbours != NumNeighbours.Six) ? 0.5f : 0.333333343f;
if (nodes != null)
{
Dictionary <Int3, int> dictionary = new Dictionary <Int3, int>();
Dictionary <int, int> dictionary2 = new Dictionary <int, int>();
HashSet <int> hashSet = new HashSet <int>();
List <Vector3> vertices = ListPool <Vector3> .Claim();
foreach (GridNodeBase gridNodeBase in nodes)
{
if (gridNodeBase != null && gridNodeBase.Walkable && !gridNodeBase.HasConnectionsToAllEightNeighbours)
{
for (int j = 0; j < array2.Length; j++)
{
int num2 = array2[j];
if (gridNodeBase.GetNeighbourAlongDirection(num2) == null)
{
int num3 = array2[(j - 1 + array2.Length) % array2.Length];
int num4 = array2[(j + 1) % array2.Length];
Vector3 vector = new Vector3((float)gridNodeBase.XCoordinateInGrid + 0.5f, 0f, (float)gridNodeBase.ZCoordinateInGrid + 0.5f);
vector.x += (float)neighbourXOffsets[num2] * num;
vector.z += (float)neighbourZOffsets[num2] * num;
vector.y = grid.transform.InverseTransform((Vector3)gridNodeBase.position).y;
Vector3 vector3;
Vector3 vector2 = vector3 = vector;
vector3.x += (float)neighbourXOffsets[num3] * num;
vector3.z += (float)neighbourZOffsets[num3] * num;
vector2.x += (float)neighbourXOffsets[num4] * num;
vector2.z += (float)neighbourZOffsets[num4] * num;
Int3 key = (Int3)vector3;
Int3 key2 = (Int3)vector2;
int key3;
if (dictionary.TryGetValue(key, out key3))
{
dictionary.Remove(key);
}
else
{
int count = vertices.Count;
dictionary[key] = count;
key3 = count;
vertices.Add(vector3);
}
int num5;
if (dictionary.TryGetValue(key2, out num5))
{
dictionary.Remove(key2);
}
else
{
int count = vertices.Count;
dictionary[key2] = count;
num5 = count;
vertices.Add(vector2);
}
dictionary2.Add(key3, num5);
hashSet.Add(num5);
}
}
}
}
GraphTransform transform = grid.transform;
List <Vector3> vertexBuffer = ListPool <Vector3> .Claim();
RVONavmesh.CompressContour(dictionary2, hashSet, delegate(List <int> chain, bool cycle)
{
vertexBuffer.Clear();
Vector3 vector4 = vertices[chain[0]];
vertexBuffer.Add(vector4);
for (int k = 1; k < chain.Count - 1; k++)
{
Vector3 vector5 = vertices[chain[k]];
Vector3 vector6 = vector5 - vector4;
Vector3 vector7 = vertices[chain[k + 1]] - vector4;
if (((Mathf.Abs(vector6.x) > 0.01f || Mathf.Abs(vector7.x) > 0.01f) && (Mathf.Abs(vector6.z) > 0.01f || Mathf.Abs(vector7.z) > 0.01f)) || Mathf.Abs(vector6.y) > 0.01f || Mathf.Abs(vector7.y) > 0.01f)
{
vertexBuffer.Add(vector5);
}
vector4 = vector5;
}
vertexBuffer.Add(vertices[chain[chain.Count - 1]]);
Vector3[] array3 = vertexBuffer.ToArray();
transform.Transform(array3);
callback(array3, cycle);
});
ListPool <Vector3> .Release(vertexBuffer);
ListPool <Vector3> .Release(vertices);
}
}
