public static bool CreateCircumscribed(Vector2 v0, Vector2 v1, Vector2 v2, out Circle2 circle)
{
Vector2 vector = v1 - v0;
Vector2 vector2 = v2 - v0;
float[,] array = new float[2, 2];
array[0, 0] = vector.x;
array[0, 1] = vector.y;
array[1, 0] = vector2.x;
array[1, 1] = vector2.y;
float[,] a = array;
float[] b = new float[]
{
0.5f * vector.sqrMagnitude,
0.5f * vector2.sqrMagnitude
};
Vector2 b2;
if (LinearSystem.Solve2(a, b, out b2, 1E-05f))
{
circle.Center = v0 + b2;
circle.Radius = b2.magnitude;
return(true);
}
circle = default(Circle2);
return(false);
}
public static bool CreateInscribed(Vector3 v0, Vector3 v1, Vector3 v2, Vector3 v3, out Sphere3 sphere)
{
Vector3 vector = v1 - v0;
Vector3 vector2 = v2 - v0;
Vector3 vector3 = v3 - v0;
Vector3 value = v2 - v1;
Vector3 vector4 = v3 - v1;
Vector3 vector5 = vector4.Cross(value);
Vector3 vector6 = vector2.Cross(vector3);
Vector3 vector7 = vector3.Cross(vector);
Vector3 vector8 = vector.Cross(vector2);
if (Mathf.Abs(Vector3ex.Normalize(ref vector5, 1E-05f)) < 1E-05f)
{
sphere = default(Sphere3);
return(false);
}
if (Mathf.Abs(Vector3ex.Normalize(ref vector6, 1E-05f)) < 1E-05f)
{
sphere = default(Sphere3);
return(false);
}
if (Mathf.Abs(Vector3ex.Normalize(ref vector7, 1E-05f)) < 1E-05f)
{
sphere = default(Sphere3);
return(false);
}
if (Mathf.Abs(Vector3ex.Normalize(ref vector8, 1E-05f)) < 1E-05f)
{
sphere = default(Sphere3);
return(false);
}
float[,] array = new float[3, 3];
array[0, 0] = vector6.x - vector5.x;
array[0, 1] = vector6.y - vector5.y;
array[0, 2] = vector6.z - vector5.z;
array[1, 0] = vector7.x - vector5.x;
array[1, 1] = vector7.y - vector5.y;
array[1, 2] = vector7.z - vector5.z;
array[2, 0] = vector8.x - vector5.x;
array[2, 1] = vector8.y - vector5.y;
array[2, 2] = vector8.z - vector5.z;
float[,] a = array;
float[] b = new float[]
{
0f,
0f,
-vector8.Dot(vector3)
};
Vector3 vector9;
if (LinearSystem.Solve3(a, b, out vector9, 1E-05f))
{
sphere.Center = v3 + vector9;
sphere.Radius = Mathf.Abs(vector5.Dot(vector9));
return(true);
}
sphere = default(Sphere3);
return(false);
}
public static bool CreateCircumscribed(Vector3 v0, Vector3 v1, Vector3 v2, Vector3 v3, out Sphere3 sphere)
{
Vector3 vector = v1 - v0;
Vector3 vector2 = v2 - v0;
Vector3 vector3 = v3 - v0;
float[,] array = new float[3, 3];
array[0, 0] = vector.x;
array[0, 1] = vector.y;
array[0, 2] = vector.z;
array[1, 0] = vector2.x;
array[1, 1] = vector2.y;
array[1, 2] = vector2.z;
array[2, 0] = vector3.x;
array[2, 1] = vector3.y;
array[2, 2] = vector3.z;
float[,] a = array;
float[] b = new float[]
{
0.5f * vector.sqrMagnitude,
0.5f * vector2.sqrMagnitude,
0.5f * vector3.sqrMagnitude
};
Vector3 b2;
if (LinearSystem.Solve3(a, b, out b2, 1E-05f))
{
sphere.Center = v0 + b2;
sphere.Radius = b2.magnitude;
return(true);
}
sphere = default(Sphere3);
return(false);
}
internal static bool HeightPlaneFit3(IList <Vector3> points, out float a, out float b, out float c)
{
float num = 0f;
float num2 = 0f;
float num3 = 0f;
float num4 = 0f;
float num5 = 0f;
float num6 = 0f;
float num7 = 0f;
float num8 = 0f;
int count = points.Count;
for (int i = 0; i < count; i++)
{
num += points[i].x;
num2 += points[i].y;
num3 += points[i].z;
num4 += points[i].x * points[i].x;
num5 += points[i].x * points[i].y;
num6 += points[i].x * points[i].z;
num7 += points[i].y * points[i].y;
num8 += points[i].y * points[i].z;
}
float[,] array = new float[3, 3];
array[0, 0] = num4;
array[0, 1] = num5;
array[0, 2] = num;
array[1, 0] = num5;
array[1, 1] = num7;
array[1, 2] = num2;
array[2, 0] = num;
array[2, 1] = num2;
array[2, 2] = (float)count;
float[,] a2 = array;
float[] b2 = new float[]
{
num6,
num8,
num3
};
float[] array2;
bool flag = LinearSystem.Solve3(a2, b2, out array2, 1E-05f);
if (flag)
{
a = array2[0];
b = array2[1];
c = array2[2];
}
else
{
a = 3.40282347E+38f;
b = 3.40282347E+38f;
c = 3.40282347E+38f;
}
return(flag);
}
public static bool Solve2(float[,] A, float[] B, out Vector2 X, float zeroTolerance = 1E-05f)
{
float[] array;
bool flag = LinearSystem.Solve2(A, B, out array, zeroTolerance);
if (flag)
{
X.x = array[0];
X.y = array[1];
}
else
{
X = Vector2ex.Zero;
}
return(flag);
}
internal static bool HeightLineFit2(IList <Vector2> points, out float a, out float b)
{
float num = 0f;
float num2 = 0f;
float num3 = 0f;
float num4 = 0f;
int count = points.Count;
for (int i = 0; i < count; i++)
{
num += points[i].x;
num2 += points[i].y;
num3 += points[i].x * points[i].x;
num4 += points[i].x * points[i].y;
}
float[,] array = new float[2, 2];
array[0, 0] = num3;
array[0, 1] = num;
array[1, 0] = num;
array[1, 1] = (float)count;
float[,] a2 = array;
float[] b2 = new float[]
{
num4,
num2
};
float[] array2;
bool flag = LinearSystem.Solve2(a2, b2, out array2, 1E-05f);
if (flag)
{
a = array2[0];
b = array2[1];
}
else
{
a = 3.40282347E+38f;
b = 3.40282347E+38f;
}
return(flag);
}
public static bool Inverse(float[,] A, out float[,] invA)
{
if (A.GetLength(0) != A.GetLength(1))
{
invA = null;
return(false);
}
int length = A.GetLength(0);
invA = new float[length, length];
Buffer.BlockCopy(A, 0, invA, 0, A.Length * 4);
int[] array = new int[length];
int[] array2 = new int[length];
bool[] array3 = new bool[length];
int num = 0;
int num2 = 0;
for (int i = 0; i < length; i++)
{
float num3 = 0f;
for (int j = 0; j < length; j++)
{
if (!array3[j])
{
for (int k = 0; k < length; k++)
{
if (!array3[k])
{
float num4 = Mathf.Abs(invA[j, k]);
if (num4 > num3)
{
num3 = num4;
num = j;
num2 = k;
}
}
}
}
}
if (num3 == 0f)
{
invA = null;
return(false);
}
array3[num2] = true;
if (num != num2)
{
LinearSystem.SwapRows(invA, num, num2, length);
}
array2[i] = num;
array[i] = num2;
float num5 = 1f / invA[num2, num2];
invA[num2, num2] = 1f;
for (int k = 0; k < length; k++)
{
invA[num2, k] *= num5;
}
for (int j = 0; j < length; j++)
{
if (j != num2)
{
float num6 = invA[j, num2];
invA[j, num2] = 0f;
for (int k = 0; k < length; k++)
{
invA[j, k] -= invA[num2, k] * num6;
}
}
}
}
for (int j = length - 1; j >= 0; j--)
{
if (array2[j] != array[j])
{
for (int k = 0; k < length; k++)
{
float num6 = invA[k, array2[j]];
invA[k, array2[j]] = invA[k, array[j]];
invA[k, array[j]] = num6;
}
}
}
return(true);
}
public static bool Solve(float[,] A, float[] B, out float[] X)
{
if (A.GetLength(0) != A.GetLength(1) || A.GetLength(0) != B.Length)
{
X = null;
return(false);
}
int length = A.GetLength(1);
float[,] array = new float[A.GetLength(0), A.GetLength(1)];
Buffer.BlockCopy(A, 0, array, 0, A.Length * 4);
X = new float[length];
Buffer.BlockCopy(B, 0, X, 0, length * 4);
int[] array2 = new int[length];
int[] array3 = new int[length];
bool[] array4 = new bool[length];
int num = 0;
int num2 = 0;
for (int i = 0; i < length; i++)
{
float num3 = 0f;
for (int j = 0; j < length; j++)
{
if (!array4[j])
{
for (int k = 0; k < length; k++)
{
if (!array4[k])
{
float num4 = Mathf.Abs(array[j, k]);
if (num4 > num3)
{
num3 = num4;
num = j;
num2 = k;
}
}
}
}
}
if (num3 == 0f)
{
X = null;
return(false);
}
array4[num2] = true;
if (num != num2)
{
LinearSystem.SwapRows(array, num, num2, length);
float num5 = X[num];
X[num] = X[num2];
X[num2] = num5;
}
array3[i] = num;
array2[i] = num2;
float num6 = 1f / array[num2, num2];
array[num2, num2] = 1f;
for (int k = 0; k < length; k++)
{
array[num2, k] *= num6;
}
X[num2] *= num6;
for (int j = 0; j < length; j++)
{
if (j != num2)
{
float num5 = array[j, num2];
array[j, num2] = 0f;
for (int k = 0; k < length; k++)
{
array[j, k] -= array[num2, k] * num5;
}
X[j] -= X[num2] * num5;
}
}
}
return(true);
}
