private Vector2 Trace(Agent.VOBuffer vos, Vector2 p, out float score)
{
float num = Mathf.Max(this.radius, 0.2f * this.desiredSpeed);
float num2 = float.PositiveInfinity;
Vector2 result = p;
for (int i = 0; i < 50; i++)
{
float num3 = 1f - (float)i / 50f;
num3 = Agent.Sqr(num3) * num;
float num4;
Vector2 vector = this.EvaluateGradient(vos, p, out num4);
if (num4 < num2)
{
num2 = num4;
result = p;
}
vector.Normalize();
vector *= num3;
Vector2 a = p;
p += vector;
if (this.DebugDraw)
{
Debug.DrawLine(Agent.FromXZ(a + this.position), Agent.FromXZ(p + this.position), Agent.Rainbow((float)i * 0.1f) * new Color(1f, 1f, 1f, 1f));
}
}
score = num2;
return(result);
}
public VO(Vector2 center, Vector2 offset, float radius, float inverseDt, float inverseDeltaTime)
{
this.weightFactor = 1f;
this.weightBonus = 0f;
this.circleCenter = center * inverseDt + offset;
this.weightFactor = 4f * Mathf.Exp(-Agent.Sqr(center.sqrMagnitude / (radius * radius))) + 1f;
if (center.magnitude < radius)
{
this.colliding = true;
this.line1 = center.normalized * (center.magnitude - radius - 0.001f) * 0.3f * inverseDeltaTime;
Vector2 vector = new Vector2(this.line1.y, -this.line1.x);
this.dir1 = vector.normalized;
this.line1 += offset;
this.cutoffDir = Vector2.zero;
this.cutoffLine = Vector2.zero;
this.dir2 = Vector2.zero;
this.line2 = Vector2.zero;
this.radius = 0f;
}
else
{
this.colliding = false;
center *= inverseDt;
radius *= inverseDt;
Vector2 b = center + offset;
float d = center.magnitude - radius + 0.001f;
this.cutoffLine = center.normalized * d;
Vector2 vector2 = new Vector2(-this.cutoffLine.y, this.cutoffLine.x);
this.cutoffDir = vector2.normalized;
this.cutoffLine += offset;
float num = Mathf.Atan2(-center.y, -center.x);
float num2 = Mathf.Abs(Mathf.Acos(radius / center.magnitude));
this.radius = radius;
this.line1 = new Vector2(Mathf.Cos(num + num2), Mathf.Sin(num + num2));
this.dir1 = new Vector2(this.line1.y, -this.line1.x);
this.line2 = new Vector2(Mathf.Cos(num - num2), Mathf.Sin(num - num2));
this.dir2 = new Vector2(this.line2.y, -this.line2.x);
this.line1 = this.line1 * radius + b;
this.line2 = this.line2 * radius + b;
}
this.segmentStart = Vector2.zero;
this.segmentEnd = Vector2.zero;
this.segment = false;
}