private void DetectSoftRigid(RigidBody rigidBody, SoftBody softBody)
{
bool flag = rigidBody.Shape is Multishape;
if (flag)
{
Multishape multishape = rigidBody.Shape as Multishape;
multishape = multishape.RequestWorkingClone();
TSBBox boundingBox = softBody.BoundingBox;
boundingBox.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);
int num = multishape.Prepare(ref boundingBox);
List <int> @new = this.potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(@new, ref rigidBody.boundingBox);
foreach (int current in @new)
{
SoftBody.Triangle userData = softBody.dynamicTree.GetUserData(current);
for (int i = 0; i < num; i++)
{
multishape.SetCurrentShape(i);
TSVector tSVector;
TSVector tSVector2;
FP penetration;
bool flag2 = XenoCollide.Detect(multishape, userData, ref rigidBody.orientation, ref TSMatrix.InternalIdentity, ref rigidBody.position, ref TSVector.InternalZero, out tSVector, out tSVector2, out penetration);
bool flag3 = flag2;
if (flag3)
{
int index = CollisionSystem.FindNearestTrianglePoint(softBody, current, ref tSVector);
this.RaiseCollisionDetected(rigidBody, softBody.VertexBodies[index], ref tSVector, ref tSVector, ref tSVector2, penetration);
}
}
}
@new.Clear();
this.potentialTriangleLists.GiveBack(@new);
multishape.ReturnWorkingClone();
}
else
{
List <int> new2 = this.potentialTriangleLists.GetNew();
softBody.dynamicTree.Query(new2, ref rigidBody.boundingBox);
foreach (int current2 in new2)
{
SoftBody.Triangle userData2 = softBody.dynamicTree.GetUserData(current2);
TSVector tSVector3;
TSVector tSVector4;
FP penetration2;
bool flag4 = XenoCollide.Detect(rigidBody.Shape, userData2, ref rigidBody.orientation, ref TSMatrix.InternalIdentity, ref rigidBody.position, ref TSVector.InternalZero, out tSVector3, out tSVector4, out penetration2);
bool flag5 = flag4;
if (flag5)
{
int index2 = CollisionSystem.FindNearestTrianglePoint(softBody, current2, ref tSVector3);
this.RaiseCollisionDetected(rigidBody, softBody.VertexBodies[index2], ref tSVector3, ref tSVector3, ref tSVector4, penetration2);
}
}
new2.Clear();
this.potentialTriangleLists.GiveBack(new2);
}
}
private void DetectRigidRigid(RigidBody body1, RigidBody body2)
{
bool flag = body1.Shape is Multishape;
bool flag2 = body2.Shape is Multishape;
bool flag3 = this.speculativeContacts || body1.EnableSpeculativeContacts || body2.EnableSpeculativeContacts;
bool flag4 = !flag && !flag2;
if (flag4)
{
TSVector tSVector;
TSVector value;
FP fP;
bool flag5 = XenoCollide.Detect(body1.Shape, body2.Shape, ref body1.orientation, ref body2.orientation, ref body1.position, ref body2.position, out tSVector, out value, out fP);
if (flag5)
{
TSVector tSVector2;
TSVector tSVector3;
this.FindSupportPoints(body1, body2, body1.Shape, body2.Shape, ref tSVector, ref value, out tSVector2, out tSVector3);
this.RaiseCollisionDetected(body1, body2, ref tSVector2, ref tSVector3, ref value, fP);
}
else
{
bool flag6 = flag3;
if (flag6)
{
TSVector value2;
TSVector value3;
bool flag7 = GJKCollide.ClosestPoints(body1.Shape, body2.Shape, ref body1.orientation, ref body2.orientation, ref body1.position, ref body2.position, out value2, out value3, out value);
if (flag7)
{
TSVector value4 = value3 - value2;
bool flag8 = value4.sqrMagnitude < (body1.sweptDirection - body2.sweptDirection).sqrMagnitude;
if (flag8)
{
fP = value4 * value;
bool flag9 = fP < FP.Zero;
if (flag9)
{
this.RaiseCollisionDetected(body1, body2, ref value2, ref value3, ref value, fP);
}
}
}
}
}
}
else
{
bool flag10 = flag & flag2;
if (flag10)
{
Multishape multishape = body1.Shape as Multishape;
Multishape multishape2 = body2.Shape as Multishape;
multishape = multishape.RequestWorkingClone();
multishape2 = multishape2.RequestWorkingClone();
TSBBox boundingBox = body2.boundingBox;
boundingBox.InverseTransform(ref body1.position, ref body1.orientation);
int num = multishape.Prepare(ref boundingBox);
boundingBox = body1.boundingBox;
boundingBox.InverseTransform(ref body2.position, ref body2.orientation);
int num2 = multishape2.Prepare(ref boundingBox);
bool flag11 = num == 0 || num2 == 0;
if (flag11)
{
multishape.ReturnWorkingClone();
multishape2.ReturnWorkingClone();
}
else
{
for (int i = 0; i < num; i++)
{
multishape.SetCurrentShape(i);
for (int j = 0; j < num2; j++)
{
multishape2.SetCurrentShape(j);
TSVector tSVector;
TSVector value;
FP fP;
bool flag12 = XenoCollide.Detect(multishape, multishape2, ref body1.orientation, ref body2.orientation, ref body1.position, ref body2.position, out tSVector, out value, out fP);
if (flag12)
{
TSVector tSVector4;
TSVector tSVector5;
this.FindSupportPoints(body1, body2, multishape, multishape2, ref tSVector, ref value, out tSVector4, out tSVector5);
this.RaiseCollisionDetected(body1, body2, ref tSVector4, ref tSVector5, ref value, fP);
}
else
{
bool flag13 = flag3;
if (flag13)
{
TSVector value5;
TSVector value6;
bool flag14 = GJKCollide.ClosestPoints(multishape, multishape2, ref body1.orientation, ref body2.orientation, ref body1.position, ref body2.position, out value5, out value6, out value);
if (flag14)
{
TSVector value7 = value6 - value5;
bool flag15 = value7.sqrMagnitude < (body1.sweptDirection - body2.sweptDirection).sqrMagnitude;
if (flag15)
{
fP = value7 * value;
bool flag16 = fP < FP.Zero;
if (flag16)
{
this.RaiseCollisionDetected(body1, body2, ref value5, ref value6, ref value, fP);
}
}
}
}
}
}
}
multishape.ReturnWorkingClone();
multishape2.ReturnWorkingClone();
}
}
else
{
bool flag17 = body2.Shape is Multishape;
RigidBody rigidBody;
RigidBody rigidBody2;
if (flag17)
{
rigidBody = body2;
rigidBody2 = body1;
}
else
{
rigidBody2 = body2;
rigidBody = body1;
}
Multishape multishape3 = rigidBody.Shape as Multishape;
multishape3 = multishape3.RequestWorkingClone();
TSBBox boundingBox2 = rigidBody2.boundingBox;
boundingBox2.InverseTransform(ref rigidBody.position, ref rigidBody.orientation);
int num3 = multishape3.Prepare(ref boundingBox2);
bool flag18 = num3 == 0;
if (flag18)
{
multishape3.ReturnWorkingClone();
}
else
{
for (int k = 0; k < num3; k++)
{
multishape3.SetCurrentShape(k);
TSVector tSVector;
TSVector value;
FP fP;
bool flag19 = XenoCollide.Detect(multishape3, rigidBody2.Shape, ref rigidBody.orientation, ref rigidBody2.orientation, ref rigidBody.position, ref rigidBody2.position, out tSVector, out value, out fP);
if (flag19)
{
TSVector tSVector6;
TSVector tSVector7;
this.FindSupportPoints(rigidBody, rigidBody2, multishape3, rigidBody2.Shape, ref tSVector, ref value, out tSVector6, out tSVector7);
bool flag20 = this.useTerrainNormal && multishape3 is TerrainShape;
if (flag20)
{
(multishape3 as TerrainShape).CollisionNormal(out value);
TSVector.Transform(ref value, ref rigidBody.orientation, out value);
}
else
{
bool flag21 = this.useTriangleMeshNormal && multishape3 is TriangleMeshShape;
if (flag21)
{
(multishape3 as TriangleMeshShape).CollisionNormal(out value);
TSVector.Transform(ref value, ref rigidBody.orientation, out value);
}
}
this.RaiseCollisionDetected(rigidBody, rigidBody2, ref tSVector6, ref tSVector7, ref value, fP);
}
else
{
bool flag22 = flag3;
if (flag22)
{
TSVector value8;
TSVector value9;
bool flag23 = GJKCollide.ClosestPoints(multishape3, rigidBody2.Shape, ref rigidBody.orientation, ref rigidBody2.orientation, ref rigidBody.position, ref rigidBody2.position, out value8, out value9, out value);
if (flag23)
{
TSVector value10 = value9 - value8;
bool flag24 = value10.sqrMagnitude < (body1.sweptDirection - body2.sweptDirection).sqrMagnitude;
if (flag24)
{
fP = value10 * value;
bool flag25 = fP < FP.Zero;
if (flag25)
{
this.RaiseCollisionDetected(rigidBody, rigidBody2, ref value8, ref value9, ref value, fP);
}
}
}
}
}
}
multishape3.ReturnWorkingClone();
}
}
}
}
public override bool Raycast(RigidBody body, TSVector rayOrigin, TSVector rayDirection, out TSVector normal, out FP fraction)
{
fraction = FP.MaxValue;
normal = TSVector.zero;
bool flag = !body.BoundingBox.RayIntersect(ref rayOrigin, ref rayDirection);
bool result;
if (flag)
{
result = false;
}
else
{
bool flag2 = body.Shape is Multishape;
if (flag2)
{
Multishape multishape = (body.Shape as Multishape).RequestWorkingClone();
bool flag3 = false;
TSVector tSVector;
TSVector.Subtract(ref rayOrigin, ref body.position, out tSVector);
TSVector.Transform(ref tSVector, ref body.invOrientation, out tSVector);
TSVector tSVector2;
TSVector.Transform(ref rayDirection, ref body.invOrientation, out tSVector2);
int num = multishape.Prepare(ref tSVector, ref tSVector2);
for (int i = 0; i < num; i++)
{
multishape.SetCurrentShape(i);
FP fP;
TSVector tSVector3;
bool flag4 = GJKCollide.Raycast(multishape, ref body.orientation, ref body.invOrientation, ref body.position, ref rayOrigin, ref rayDirection, out fP, out tSVector3);
if (flag4)
{
bool flag5 = fP < fraction;
if (flag5)
{
bool flag6 = this.useTerrainNormal && multishape is TerrainShape;
if (flag6)
{
(multishape as TerrainShape).CollisionNormal(out tSVector3);
TSVector.Transform(ref tSVector3, ref body.orientation, out tSVector3);
tSVector3.Negate();
}
else
{
bool flag7 = this.useTriangleMeshNormal && multishape is TriangleMeshShape;
if (flag7)
{
(multishape as TriangleMeshShape).CollisionNormal(out tSVector3);
TSVector.Transform(ref tSVector3, ref body.orientation, out tSVector3);
tSVector3.Negate();
}
}
normal = tSVector3;
fraction = fP;
flag3 = true;
}
}
}
multishape.ReturnWorkingClone();
result = flag3;
}
else
{
result = GJKCollide.Raycast(body.Shape, ref body.orientation, ref body.invOrientation, ref body.position, ref rayOrigin, ref rayDirection, out fraction, out normal);
}
}
return(result);
}
