public static bool IsColinear(Vector3 a, Vector3 b, Vector3 c)
{
return(VectorMath.IsColinearXZ(a, b, c));
}
public bool FindNextCorners(Vector3 origin, int startIndex, List <Vector3> funnelPath, int numCorners, out bool lastCorner)
{
lastCorner = false;
if (left == null)
{
throw new System.Exception("left list is null");
}
if (right == null)
{
throw new System.Exception("right list is null");
}
if (funnelPath == null)
{
throw new System.ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new System.ArgumentException("left and right lists must have equal length");
}
int diagonalCount = left.Count;
if (diagonalCount == 0)
{
throw new System.ArgumentException("no diagonals");
}
if (diagonalCount - startIndex < 3)
{
//Direct path
funnelPath.Add(left[diagonalCount - 1]);
lastCorner = true;
return(true);
}
#if ASTARDEBUG
for (int i = startIndex; i < left.Count - 1; i++)
{
Debug.DrawLine(left[i], left[i + 1], Color.red);
Debug.DrawLine(right[i], right[i + 1], Color.magenta);
Debug.DrawRay(right[i], Vector3.up, Color.magenta);
}
for (int i = 0; i < left.Count; i++)
{
Debug.DrawLine(right[i], left[i], Color.cyan);
}
#endif
//Remove identical vertices
while (left[startIndex + 1] == left[startIndex + 2] && right[startIndex + 1] == right[startIndex + 2])
{
//System.Console.WriteLine ("Removing identical left and right");
//left.RemoveAt (1);
//right.RemoveAt (1);
startIndex++;
if (diagonalCount - startIndex <= 3)
{
return(false);
}
}
Vector3 swPoint = left[startIndex + 2];
if (swPoint == left[startIndex + 1])
{
swPoint = right[startIndex + 2];
}
//Test
while (VectorMath.IsColinearXZ(origin, left[startIndex + 1], right[startIndex + 1]) || VectorMath.RightOrColinearXZ(left[startIndex + 1], right[startIndex + 1], swPoint) == VectorMath.RightOrColinearXZ(left[startIndex + 1], right[startIndex + 1], origin))
{
#if ASTARDEBUG
Debug.DrawLine(left[startIndex + 1], right[startIndex + 1], new Color(0, 0, 0, 0.5F));
Debug.DrawLine(origin, swPoint, new Color(0, 0, 0, 0.5F));
#endif
//left.RemoveAt (1);
//right.RemoveAt (1);
startIndex++;
if (diagonalCount - startIndex < 3)
{
//Debug.Log ("#2 " + left.Count + " - " + startIndex + " = " + (left.Count-startIndex));
//Direct path
funnelPath.Add(left[diagonalCount - 1]);
lastCorner = true;
return(true);
}
swPoint = left[startIndex + 2];
if (swPoint == left[startIndex + 1])
{
swPoint = right[startIndex + 2];
}
}
//funnelPath.Add (origin);
Vector3 portalApex = origin;
Vector3 portalLeft = left[startIndex + 1];
Vector3 portalRight = right[startIndex + 1];
int apexIndex = startIndex + 0;
int rightIndex = startIndex + 1;
int leftIndex = startIndex + 1;
for (int i = startIndex + 2; i < diagonalCount; i++)
{
if (funnelPath.Count >= numCorners)
{
return(true);
}
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 pLeft = left[i];
Vector3 pRight = right[i];
/*Debug.DrawLine (portalApex,portalLeft,Color.red);
* Debug.DrawLine (portalApex,portalRight,Color.yellow);
* Debug.DrawLine (portalApex,left,Color.cyan);
* Debug.DrawLine (portalApex,right,Color.cyan);*/
if (VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalRight, pRight) >= 0)
{
if (portalApex == portalRight || VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalLeft, pRight) <= 0)
{
portalRight = pRight;
rightIndex = i;
}
else
{
funnelPath.Add(portalLeft);
portalApex = portalLeft;
apexIndex = leftIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
if (VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalLeft, pLeft) <= 0)
{
if (portalApex == portalLeft || VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalRight, pLeft) >= 0)
{
portalLeft = pLeft;
leftIndex = i;
}
else
{
funnelPath.Add(portalRight);
portalApex = portalRight;
apexIndex = rightIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
}
lastCorner = true;
funnelPath.Add(left[diagonalCount - 1]);
return(true);
}
public List <Vector3> SmoothOffsetSimple(List <Vector3> path)
{
if (path.Count <= 2 || iterations <= 0)
{
return(path);
}
if (iterations > 12)
{
Debug.LogWarning("A very high iteration count was passed, won't let this one through");
return(path);
}
int maxLength = (path.Count - 2) * (int)Mathf.Pow(2, iterations) + 2;
List <Vector3> subdivided = ListPool <Vector3> .Claim(maxLength);
List <Vector3> subdivided2 = ListPool <Vector3> .Claim(maxLength);
for (int i = 0; i < maxLength; i++)
{
subdivided.Add(Vector3.zero); subdivided2.Add(Vector3.zero);
}
for (int i = 0; i < path.Count; i++)
{
subdivided[i] = path[i];
}
for (int iteration = 0; iteration < iterations; iteration++)
{
int currentPathLength = (path.Count - 2) * (int)Mathf.Pow(2, iteration) + 2;
//Switch the arrays
List <Vector3> tmp = subdivided;
subdivided = subdivided2;
subdivided2 = tmp;
const float nextMultiplier = 1F;
for (int i = 0; i < currentPathLength - 1; i++)
{
Vector3 current = subdivided2[i];
Vector3 next = subdivided2[i + 1];
Vector3 normal = Vector3.Cross(next - current, Vector3.up);
normal = normal.normalized;
bool firstRight = false;
bool secondRight = false;
bool setFirst = false;
bool setSecond = false;
if (i != 0 && !VectorMath.IsColinearXZ(current, next, subdivided2[i - 1]))
{
setFirst = true;
firstRight = VectorMath.RightOrColinearXZ(current, next, subdivided2[i - 1]);
}
if (i < currentPathLength - 1 && !VectorMath.IsColinearXZ(current, next, subdivided2[i + 2]))
{
setSecond = true;
secondRight = VectorMath.RightOrColinearXZ(current, next, subdivided2[i + 2]);
}
if (setFirst)
{
subdivided[i * 2] = current + (firstRight ? normal * offset * nextMultiplier : -normal * offset * nextMultiplier);
}
else
{
subdivided[i * 2] = current;
}
if (setSecond)
{
subdivided[i * 2 + 1] = next + (secondRight ? normal * offset * nextMultiplier : -normal * offset * nextMultiplier);
}
else
{
subdivided[i * 2 + 1] = next;
}
}
subdivided[(path.Count - 2) * (int)Mathf.Pow(2, iteration + 1) + 2 - 1] = subdivided2[currentPathLength - 1];
}
ListPool <Vector3> .Release(ref subdivided2);
return(subdivided);
}
public static bool IsColinear(Int3 a, Int3 b, Int3 c)
{
return(VectorMath.IsColinearXZ(a, b, c));
}
/** Generates a navmesh. Based on the supplied vertices and triangles */
void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
Profiler.BeginSample("Init");
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new Int3[0];
nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
int c = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)matrix.MultiplyPoint3x4(vectorVertices[i]);
}
var hashedVerts = new Dictionary <Int3, int>();
var newVertices = new int[vertices.Length];
Profiler.EndSample();
Profiler.BeginSample("Hashing");
for (int i = 0; i < vertices.Length; i++)
{
if (!hashedVerts.ContainsKey(vertices[i]))
{
newVertices[c] = i;
hashedVerts.Add(vertices[i], c);
c++;
}
}
for (int x = 0; x < triangles.Length; x++)
{
Int3 vertex = vertices[triangles[x]];
triangles[x] = hashedVerts[vertex];
}
Int3[] totalIntVertices = vertices;
vertices = new Int3[c];
originalVertices = new Vector3[c];
for (int i = 0; i < c; i++)
{
vertices[i] = totalIntVertices[newVertices[i]];
originalVertices[i] = vectorVertices[newVertices[i]];
}
Profiler.EndSample();
Profiler.BeginSample("Constructing Nodes");
nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = active.astarData.GetGraphIndex(this);
// Does not have to set this, it is set in ScanInternal
//TriangleMeshNode.SetNavmeshHolder ((int)graphIndex,this);
for (int i = 0; i < nodes.Length; i++)
{
nodes[i] = new TriangleMeshNode(active);
TriangleMeshNode node = nodes[i]; //new MeshNode ();
node.GraphIndex = (uint)graphIndex;
node.Penalty = initialPenalty;
node.Walkable = true;
node.v0 = triangles[i * 3];
node.v1 = triangles[i * 3 + 1];
node.v2 = triangles[i * 3 + 2];
if (!VectorMath.IsClockwiseXZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
//Debug.DrawLine (vertices[node.v0],vertices[node.v1],Color.red);
//Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.red);
//Debug.DrawLine (vertices[node.v2],vertices[node.v0],Color.red);
int tmp = node.v0;
node.v0 = node.v2;
node.v2 = tmp;
}
if (VectorMath.IsColinearXZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
// Make sure position is correctly set
node.UpdatePositionFromVertices();
}
Profiler.EndSample();
var sides = new Dictionary <Int2, TriangleMeshNode>();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
sides[new Int2(triangles[i + 0], triangles[i + 1])] = nodes[j];
sides[new Int2(triangles[i + 1], triangles[i + 2])] = nodes[j];
sides[new Int2(triangles[i + 2], triangles[i + 0])] = nodes[j];
}
Profiler.BeginSample("Connecting Nodes");
var connections = new List <MeshNode>();
var connectionCosts = new List <uint>();
for (int i = 0, j = 0; i < triangles.Length; j += 1, i += 3)
{
connections.Clear();
connectionCosts.Clear();
TriangleMeshNode node = nodes[j];
for (int q = 0; q < 3; q++)
{
TriangleMeshNode other;
if (sides.TryGetValue(new Int2(triangles[i + ((q + 1) % 3)], triangles[i + q]), out other))
{
connections.Add(other);
connectionCosts.Add((uint)(node.position - other.position).costMagnitude);
}
}
node.connections = connections.ToArray();
node.connectionCosts = connectionCosts.ToArray();
}
Profiler.EndSample();
Profiler.BeginSample("Rebuilding BBTree");
RebuildBBTree(this);
Profiler.EndSample();
#if ASTARDEBUG
for (int i = 0; i < nodes.Length; i++)
{
TriangleMeshNode node = nodes[i] as TriangleMeshNode;
float a1 = VectorMath.SignedTriangleAreaTimes2XZ((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], (Vector3)vertices[node.v2]);
long a2 = VectorMath.SignedTriangleAreaTimes2XZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]);
if (a1 * a2 < 0)
{
Debug.LogError(a1 + " " + a2);
}
if (VectorMath.IsClockwiseXZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.green);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.green);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.green);
}
else
{
Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
}
#endif
}
/** Calculate a funnel path from the \a left and \a right portal lists.
* The result will be appended to \a funnelPath
*/
public static bool RunFunnel(List <Vector3> left, List <Vector3> right, List <Vector3> funnelPath)
{
if (left == null)
{
throw new System.ArgumentNullException("left");
}
if (right == null)
{
throw new System.ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new System.ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new System.ArgumentException("left and right lists must have equal length");
}
if (left.Count < 3)
{
return(false);
}
//Remove identical vertices
while (left[1] == left[2] && right[1] == right[2])
{
//System.Console.WriteLine ("Removing identical left and right");
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
Vector3 swPoint = left[2];
if (swPoint == left[1])
{
swPoint = right[2];
}
//Test
while (VectorMath.IsColinearXZ(left[0], left[1], right[1]) || VectorMath.RightOrColinearXZ(left[1], right[1], swPoint) == VectorMath.RightOrColinearXZ(left[1], right[1], left[0]))
{
#if ASTARDEBUG
Debug.DrawLine(left[1], right[1], new Color(0, 0, 0, 0.5F));
Debug.DrawLine(left[0], swPoint, new Color(0, 0, 0, 0.5F));
#endif
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
swPoint = left[2];
if (swPoint == left[1])
{
swPoint = right[2];
}
}
//Switch left and right to really be on the "left" and "right" sides
/** \todo The colinear check should not be needed */
if (!VectorMath.IsClockwiseXZ(left[0], left[1], right[1]) && !VectorMath.IsColinearXZ(left[0], left[1], right[1]))
{
//System.Console.WriteLine ("Wrong Side 2");
List <Vector3> tmp = left;
left = right;
right = tmp;
}
#if ASTARDEBUG
for (int i = 0; i < left.Count - 1; i++)
{
Debug.DrawLine(left[i], left[i + 1], Color.red);
Debug.DrawLine(right[i], right[i + 1], Color.magenta);
Debug.DrawRay(right[i], Vector3.up, Color.magenta);
}
for (int i = 0; i < left.Count; i++)
{
//Debug.DrawLine (right[i],left[i], Color.cyan);
}
#endif
funnelPath.Add(left[0]);
Vector3 portalApex = left[0];
Vector3 portalLeft = left[1];
Vector3 portalRight = right[1];
int apexIndex = 0;
int rightIndex = 1;
int leftIndex = 1;
for (int i = 2; i < left.Count; i++)
{
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 pLeft = left[i];
Vector3 pRight = right[i];
/*Debug.DrawLine (portalApex,portalLeft,Color.red);
* Debug.DrawLine (portalApex,portalRight,Color.yellow);
* Debug.DrawLine (portalApex,left,Color.cyan);
* Debug.DrawLine (portalApex,right,Color.cyan);*/
if (VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalRight, pRight) >= 0)
{
if (portalApex == portalRight || VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalLeft, pRight) <= 0)
{
portalRight = pRight;
rightIndex = i;
}
else
{
funnelPath.Add(portalLeft);
portalApex = portalLeft;
apexIndex = leftIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
if (VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalLeft, pLeft) <= 0)
{
if (portalApex == portalLeft || VectorMath.SignedTriangleAreaTimes2XZ(portalApex, portalRight, pLeft) >= 0)
{
portalLeft = pLeft;
leftIndex = i;
}
else
{
funnelPath.Add(portalRight);
portalApex = portalRight;
apexIndex = rightIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
continue;
}
}
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
private bool FindNextCorners(Vector3 origin, int startIndex, List <Vector3> funnelPath, int numCorners, out bool lastCorner)
{
lastCorner = false;
if (this.left == null)
{
throw new Exception("left list is null");
}
if (this.right == null)
{
throw new Exception("right list is null");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (this.left.Count != this.right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
int count = this.left.Count;
if (count == 0)
{
throw new ArgumentException("no diagonals");
}
if (count - startIndex < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
while (this.left[startIndex + 1] == this.left[startIndex + 2] && this.right[startIndex + 1] == this.right[startIndex + 2])
{
startIndex++;
if (count - startIndex <= 3)
{
return(false);
}
}
Vector3 vector = this.left[startIndex + 2];
if (vector == this.left[startIndex + 1])
{
vector = this.right[startIndex + 2];
}
while (VectorMath.IsColinearXZ(origin, this.left[startIndex + 1], this.right[startIndex + 1]) || VectorMath.RightOrColinearXZ(this.left[startIndex + 1], this.right[startIndex + 1], vector) == VectorMath.RightOrColinearXZ(this.left[startIndex + 1], this.right[startIndex + 1], origin))
{
startIndex++;
if (count - startIndex < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
vector = this.left[startIndex + 2];
if (vector == this.left[startIndex + 1])
{
vector = this.right[startIndex + 2];
}
}
Vector3 vector2 = origin;
Vector3 vector3 = this.left[startIndex + 1];
Vector3 vector4 = this.right[startIndex + 1];
int num = startIndex + 1;
int num2 = startIndex + 1;
int i = startIndex + 2;
while (i < count)
{
if (funnelPath.Count >= numCorners)
{
return(true);
}
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 vector5 = this.left[i];
Vector3 vector6 = this.right[i];
if (VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector4, vector6) < 0f)
{
goto IL_2FB;
}
if (vector2 == vector4 || VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector3, vector6) <= 0f)
{
vector4 = vector6;
num = i;
goto IL_2FB;
}
funnelPath.Add(vector3);
vector2 = vector3;
int num3 = num2;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
IL_35F:
i++;
continue;
IL_2FB:
if (VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector3, vector5) > 0f)
{
goto IL_35F;
}
if (vector2 == vector3 || VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector4, vector5) >= 0f)
{
vector3 = vector5;
num2 = i;
goto IL_35F;
}
funnelPath.Add(vector4);
vector2 = vector4;
num3 = num;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
goto IL_35F;
}
lastCorner = true;
funnelPath.Add(this.left[count - 1]);
return(true);
}
private void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
if ((vectorVertices.Length == 0) || (triangles.Length == 0))
{
originalVertices = vectorVertices;
vertices = new Int3[0];
this.nodes = new TriangleMeshNode[0];
}
else
{
vertices = new Int3[vectorVertices.Length];
int index = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)this.matrix.MultiplyPoint3x4(vectorVertices[i]);
}
Dictionary <Int3, int> dictionary = new Dictionary <Int3, int>();
int[] numArray = new int[vertices.Length];
for (int j = 0; j < vertices.Length; j++)
{
if (!dictionary.ContainsKey(vertices[j]))
{
numArray[index] = j;
dictionary.Add(vertices[j], index);
index++;
}
}
for (int k = 0; k < triangles.Length; k++)
{
Int3 num5 = vertices[triangles[k]];
triangles[k] = dictionary[num5];
}
Int3[] numArray2 = vertices;
vertices = new Int3[index];
originalVertices = new Vector3[index];
for (int m = 0; m < index; m++)
{
vertices[m] = numArray2[numArray[m]];
originalVertices[m] = vectorVertices[numArray[m]];
}
this.nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = base.active.astarData.GetGraphIndex(this);
for (int n = 0; n < this.nodes.Length; n++)
{
this.nodes[n] = new TriangleMeshNode(base.active);
TriangleMeshNode node = this.nodes[n];
node.GraphIndex = (uint)graphIndex;
node.Penalty = base.initialPenalty;
node.Walkable = true;
node.v0 = triangles[n * 3];
node.v1 = triangles[(n * 3) + 1];
node.v2 = triangles[(n * 3) + 2];
if (!VectorMath.IsClockwiseXZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
int num9 = node.v0;
node.v0 = node.v2;
node.v2 = num9;
}
if (VectorMath.IsColinearXZ(vertices[node.v0], vertices[node.v1], vertices[node.v2]))
{
UnityEngine.Debug.DrawLine((Vector3)vertices[node.v0], (Vector3)vertices[node.v1], Color.red);
UnityEngine.Debug.DrawLine((Vector3)vertices[node.v1], (Vector3)vertices[node.v2], Color.red);
UnityEngine.Debug.DrawLine((Vector3)vertices[node.v2], (Vector3)vertices[node.v0], Color.red);
}
node.UpdatePositionFromVertices();
}
Dictionary <Int2, TriangleMeshNode> dictionary2 = new Dictionary <Int2, TriangleMeshNode>();
int num10 = 0;
int num11 = 0;
while (num10 < triangles.Length)
{
dictionary2[new Int2(triangles[num10], triangles[num10 + 1])] = this.nodes[num11];
dictionary2[new Int2(triangles[num10 + 1], triangles[num10 + 2])] = this.nodes[num11];
dictionary2[new Int2(triangles[num10 + 2], triangles[num10])] = this.nodes[num11];
num11++;
num10 += 3;
}
List <MeshNode> list = new List <MeshNode>();
List <uint> list2 = new List <uint>();
int num12 = 0;
int num13 = 0;
while (num12 < triangles.Length)
{
list.Clear();
list2.Clear();
TriangleMeshNode node2 = this.nodes[num13];
for (int num14 = 0; num14 < 3; num14++)
{
TriangleMeshNode node3;
if (dictionary2.TryGetValue(new Int2(triangles[num12 + ((num14 + 1) % 3)], triangles[num12 + num14]), out node3))
{
list.Add(node3);
Int3 num15 = node2.position - node3.position;
list2.Add((uint)num15.costMagnitude);
}
}
node2.connections = list.ToArray();
node2.connectionCosts = list2.ToArray();
num13++;
num12 += 3;
}
RebuildBBTree(this);
}
}
public bool RunFunnel(List <VInt3> left, List <VInt3> right, List <VInt3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.Count <= 3)
{
return(false);
}
while ((left[1] == left[2]) && (right[1] == right[2]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
VInt3 c = left[2];
if (c == left[1])
{
c = right[2];
}
while (VectorMath.IsColinearXZ(left[0], left[1], right[1]) || (VectorMath.RightOrColinearXZ(left[1], right[1], c) == VectorMath.RightOrColinearXZ(left[1], right[1], left[0])))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
c = left[2];
if (c == left[1])
{
c = right[2];
}
}
if (!VectorMath.IsClockwiseXZ(left[0], left[1], right[1]) && !VectorMath.IsColinearXZ(left[0], left[1], right[1]))
{
List <VInt3> list = left;
left = right;
right = list;
}
funnelPath.Add(left[0]);
VInt3 a = left[0];
VInt3 b = left[1];
VInt3 num4 = right[1];
int num5 = 0;
int num6 = 1;
int num7 = 1;
for (int i = 2; i < left.Count; i++)
{
if (funnelPath.Count > 0x7d0)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
VInt3 num9 = left[i];
VInt3 num10 = right[i];
if (VectorMath.SignedTriangleAreaTimes2XZ(a, num4, num10) >= 0L)
{
if ((a == num4) || (VectorMath.SignedTriangleAreaTimes2XZ(a, b, num10) <= 0L))
{
num4 = num10;
num6 = i;
}
else
{
funnelPath.Add(b);
a = b;
num5 = num7;
b = a;
num4 = a;
num7 = num5;
num6 = num5;
i = num5;
continue;
}
}
if (VectorMath.SignedTriangleAreaTimes2XZ(a, b, num9) <= 0L)
{
if ((a == b) || (VectorMath.SignedTriangleAreaTimes2XZ(a, num4, num9) >= 0L))
{
b = num9;
num7 = i;
}
else
{
funnelPath.Add(num4);
a = num4;
num5 = num6;
b = a;
num4 = a;
num7 = num5;
num6 = num5;
i = num5;
}
}
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
public List <Vector3> SmoothOffsetSimple(List <Vector3> path)
{
if (path.Count <= 2 || this.iterations <= 0)
{
return(path);
}
if (this.iterations > 12)
{
Debug.LogWarning("A very high iteration count was passed, won't let this one through");
return(path);
}
int num = (path.Count - 2) * (int)Mathf.Pow(2f, (float)this.iterations) + 2;
List <Vector3> list = ListPool <Vector3> .Claim(num);
List <Vector3> list2 = ListPool <Vector3> .Claim(num);
for (int i = 0; i < num; i++)
{
list.Add(Vector3.zero);
list2.Add(Vector3.zero);
}
for (int j = 0; j < path.Count; j++)
{
list[j] = path[j];
}
for (int k = 0; k < this.iterations; k++)
{
int num2 = (path.Count - 2) * (int)Mathf.Pow(2f, (float)k) + 2;
List <Vector3> list3 = list;
list = list2;
list2 = list3;
for (int l = 0; l < num2 - 1; l++)
{
Vector3 vector = list2[l];
Vector3 vector2 = list2[l + 1];
Vector3 normalized = Vector3.Cross(vector2 - vector, Vector3.up).normalized;
bool flag = false;
bool flag2 = false;
bool flag3 = false;
bool flag4 = false;
if (l != 0 && !VectorMath.IsColinearXZ(vector, vector2, list2[l - 1]))
{
flag3 = true;
flag = VectorMath.RightOrColinearXZ(vector, vector2, list2[l - 1]);
}
if (l < num2 - 1 && !VectorMath.IsColinearXZ(vector, vector2, list2[l + 2]))
{
flag4 = true;
flag2 = VectorMath.RightOrColinearXZ(vector, vector2, list2[l + 2]);
}
if (flag3)
{
list[l * 2] = vector + ((!flag) ? (-normalized * this.offset * 1f) : (normalized * this.offset * 1f));
}
else
{
list[l * 2] = vector;
}
if (flag4)
{
list[l * 2 + 1] = vector2 + ((!flag2) ? (-normalized * this.offset * 1f) : (normalized * this.offset * 1f));
}
else
{
list[l * 2 + 1] = vector2;
}
}
list[(path.Count - 2) * (int)Mathf.Pow(2f, (float)(k + 1)) + 2 - 1] = list2[num2 - 1];
}
ListPool <Vector3> .Release(list2);
return(list);
}
public List <Vector3> SmoothOffsetSimple(List <Vector3> path)
{
if ((path.Count <= 2) || (this.iterations <= 0))
{
return(path);
}
if (this.iterations > 12)
{
Debug.LogWarning("A very high iteration count was passed, won't let this one through");
return(path);
}
int capacity = ((path.Count - 2) * ((int)Mathf.Pow(2f, (float)this.iterations))) + 2;
List <Vector3> list = ListPool <Vector3> .Claim(capacity);
List <Vector3> list2 = ListPool <Vector3> .Claim(capacity);
for (int i = 0; i < capacity; i++)
{
list.Add(Vector3.zero);
list2.Add(Vector3.zero);
}
for (int j = 0; j < path.Count; j++)
{
list[j] = path[j];
}
for (int k = 0; k < this.iterations; k++)
{
int num5 = ((path.Count - 2) * ((int)Mathf.Pow(2f, (float)k))) + 2;
List <Vector3> list3 = list;
list = list2;
list2 = list3;
for (int m = 0; m < (num5 - 1); m++)
{
Vector3 a = list2[m];
Vector3 b = list2[m + 1];
Vector3 normalized = Vector3.Cross(b - a, Vector3.up).normalized;
bool flag = false;
bool flag2 = false;
bool flag3 = false;
bool flag4 = false;
if ((m != 0) && !VectorMath.IsColinearXZ(a, b, list2[m - 1]))
{
flag3 = true;
flag = VectorMath.RightOrColinearXZ(a, b, list2[m - 1]);
}
if ((m < (num5 - 1)) && !VectorMath.IsColinearXZ(a, b, list2[m + 2]))
{
flag4 = true;
flag2 = VectorMath.RightOrColinearXZ(a, b, list2[m + 2]);
}
if (flag3)
{
list[m * 2] = a + (!flag ? ((Vector3)((-normalized * this.offset) * 1f)) : ((Vector3)((normalized * this.offset) * 1f)));
}
else
{
list[m * 2] = a;
}
if (flag4)
{
list[(m * 2) + 1] = b + (!flag2 ? ((Vector3)((-normalized * this.offset) * 1f)) : ((Vector3)((normalized * this.offset) * 1f)));
}
else
{
list[(m * 2) + 1] = b;
}
}
list[(((path.Count - 2) * ((int)Mathf.Pow(2f, (float)(k + 1)))) + 2) - 1] = list2[num5 - 1];
}
ListPool <Vector3> .Release(list2);
return(list);
}
public static bool RunFunnel(List<Vector3> left, List<Vector3> right, List<Vector3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.Count < 3)
{
return false;
}
while (left[1] == left[2] && right[1] == right[2])
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return false;
}
}
Vector3 vector = left[2];
if (vector == left[1])
{
vector = right[2];
}
while (VectorMath.IsColinearXZ(left[0], left[1], right[1]) || VectorMath.RightOrColinearXZ(left[1], right[1], vector) == VectorMath.RightOrColinearXZ(left[1], right[1], left[0]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return false;
}
vector = left[2];
if (vector == left[1])
{
vector = right[2];
}
}
if (!VectorMath.IsClockwiseXZ(left[0], left[1], right[1]) && !VectorMath.IsColinearXZ(left[0], left[1], right[1]))
{
List<Vector3> list = left;
left = right;
right = list;
}
funnelPath.Add(left[0]);
Vector3 vector2 = left[0];
Vector3 vector3 = left[1];
Vector3 vector4 = right[1];
int num = 1;
int num2 = 1;
int i = 2;
while (i < left.Count)
{
if (funnelPath.Count > 2000)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 vector5 = left[i];
Vector3 vector6 = right[i];
if (VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector4, vector6) < 0f)
{
goto IL_279;
}
if (vector2 == vector4 || VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector3, vector6) <= 0f)
{
vector4 = vector6;
num = i;
goto IL_279;
}
funnelPath.Add(vector3);
vector2 = vector3;
int num3 = num2;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
IL_2DD:
i++;
continue;
IL_279:
if (VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector3, vector5) > 0f)
{
goto IL_2DD;
}
if (vector2 == vector3 || VectorMath.SignedTriangleAreaTimes2XZ(vector2, vector4, vector5) >= 0f)
{
vector3 = vector5;
num2 = i;
goto IL_2DD;
}
funnelPath.Add(vector4);
vector2 = vector4;
num3 = num;
vector3 = vector2;
vector4 = vector2;
num2 = num3;
num = num3;
i = num3;
goto IL_2DD;
}
funnelPath.Add(left[left.Count - 1]);
return true;
}
private void GenerateNodes(Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
{
if (vectorVertices.Length == 0 || triangles.Length == 0)
{
originalVertices = vectorVertices;
vertices = new Int3[0];
this.nodes = new TriangleMeshNode[0];
return;
}
vertices = new Int3[vectorVertices.Length];
int num = 0;
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = (Int3)this.matrix.MultiplyPoint3x4(vectorVertices[i]);
}
Dictionary <Int3, int> dictionary = new Dictionary <Int3, int>();
int[] array = new int[vertices.Length];
for (int j = 0; j < vertices.Length; j++)
{
if (!dictionary.ContainsKey(vertices[j]))
{
array[num] = j;
dictionary.Add(vertices[j], num);
num++;
}
}
for (int k = 0; k < triangles.Length; k++)
{
Int3 key = vertices[triangles[k]];
triangles[k] = dictionary[key];
}
Int3[] array2 = vertices;
vertices = new Int3[num];
originalVertices = new Vector3[num];
for (int l = 0; l < num; l++)
{
vertices[l] = array2[array[l]];
originalVertices[l] = vectorVertices[array[l]];
}
this.nodes = new TriangleMeshNode[triangles.Length / 3];
int graphIndex = this.active.astarData.GetGraphIndex(this);
for (int m = 0; m < this.nodes.Length; m++)
{
this.nodes[m] = new TriangleMeshNode(this.active);
TriangleMeshNode triangleMeshNode = this.nodes[m];
triangleMeshNode.GraphIndex = (uint)graphIndex;
triangleMeshNode.Penalty = this.initialPenalty;
triangleMeshNode.Walkable = true;
triangleMeshNode.v0 = triangles[m * 3];
triangleMeshNode.v1 = triangles[m * 3 + 1];
triangleMeshNode.v2 = triangles[m * 3 + 2];
if (!VectorMath.IsClockwiseXZ(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
int v = triangleMeshNode.v0;
triangleMeshNode.v0 = triangleMeshNode.v2;
triangleMeshNode.v2 = v;
}
if (VectorMath.IsColinearXZ(vertices[triangleMeshNode.v0], vertices[triangleMeshNode.v1], vertices[triangleMeshNode.v2]))
{
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v0], (Vector3)vertices[triangleMeshNode.v1], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v1], (Vector3)vertices[triangleMeshNode.v2], Color.red);
Debug.DrawLine((Vector3)vertices[triangleMeshNode.v2], (Vector3)vertices[triangleMeshNode.v0], Color.red);
}
triangleMeshNode.UpdatePositionFromVertices();
}
Dictionary <Int2, TriangleMeshNode> dictionary2 = new Dictionary <Int2, TriangleMeshNode>();
int n = 0;
int num2 = 0;
while (n < triangles.Length)
{
dictionary2[new Int2(triangles[n], triangles[n + 1])] = this.nodes[num2];
dictionary2[new Int2(triangles[n + 1], triangles[n + 2])] = this.nodes[num2];
dictionary2[new Int2(triangles[n + 2], triangles[n])] = this.nodes[num2];
num2++;
n += 3;
}
List <MeshNode> list = new List <MeshNode>();
List <uint> list2 = new List <uint>();
int num3 = 0;
int num4 = 0;
while (num3 < triangles.Length)
{
list.Clear();
list2.Clear();
TriangleMeshNode triangleMeshNode2 = this.nodes[num4];
for (int num5 = 0; num5 < 3; num5++)
{
TriangleMeshNode triangleMeshNode3;
if (dictionary2.TryGetValue(new Int2(triangles[num3 + (num5 + 1) % 3], triangles[num3 + num5]), out triangleMeshNode3))
{
list.Add(triangleMeshNode3);
list2.Add((uint)(triangleMeshNode2.position - triangleMeshNode3.position).costMagnitude);
}
}
triangleMeshNode2.connections = list.ToArray();
triangleMeshNode2.connectionCosts = list2.ToArray();
num4++;
num3 += 3;
}
NavMeshGraph.RebuildBBTree(this);
}
public bool FindNextCorners(Vector3 origin, int startIndex, List <Vector3> funnelPath, int numCorners, out bool lastCorner)
{
lastCorner = false;
if (this.left == null)
{
throw new Exception("left list is null");
}
if (this.right == null)
{
throw new Exception("right list is null");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (this.left.Count != this.right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
int count = this.left.Count;
if (count == 0)
{
throw new ArgumentException("no diagonals");
}
if ((count - startIndex) < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
while ((this.left[startIndex + 1] == this.left[startIndex + 2]) && (this.right[startIndex + 1] == this.right[startIndex + 2]))
{
startIndex++;
if ((count - startIndex) <= 3)
{
return(false);
}
}
Vector3 p = this.left[startIndex + 2];
if (p == this.left[startIndex + 1])
{
p = this.right[startIndex + 2];
}
while (VectorMath.IsColinearXZ(origin, this.left[startIndex + 1], this.right[startIndex + 1]) || (VectorMath.RightOrColinearXZ(this.left[startIndex + 1], this.right[startIndex + 1], p) == VectorMath.RightOrColinearXZ(this.left[startIndex + 1], this.right[startIndex + 1], origin)))
{
startIndex++;
if ((count - startIndex) < 3)
{
funnelPath.Add(this.left[count - 1]);
lastCorner = true;
return(true);
}
p = this.left[startIndex + 2];
if (p == this.left[startIndex + 1])
{
p = this.right[startIndex + 2];
}
}
Vector3 a = origin;
Vector3 b = this.left[startIndex + 1];
Vector3 vector4 = this.right[startIndex + 1];
int num2 = startIndex;
int num3 = startIndex + 1;
int num4 = startIndex + 1;
for (int i = startIndex + 2; i < count; i++)
{
if (funnelPath.Count >= numCorners)
{
return(true);
}
if (funnelPath.Count > 0x7d0)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 c = this.left[i];
Vector3 vector6 = this.right[i];
if (VectorMath.SignedTriangleAreaTimes2XZ(a, vector4, vector6) >= 0f)
{
if ((a == vector4) || (VectorMath.SignedTriangleAreaTimes2XZ(a, b, vector6) <= 0f))
{
vector4 = vector6;
num3 = i;
}
else
{
funnelPath.Add(b);
a = b;
num2 = num4;
b = a;
vector4 = a;
num4 = num2;
num3 = num2;
i = num2;
continue;
}
}
if (VectorMath.SignedTriangleAreaTimes2XZ(a, b, c) <= 0f)
{
if ((a == b) || (VectorMath.SignedTriangleAreaTimes2XZ(a, vector4, c) >= 0f))
{
b = c;
num4 = i;
}
else
{
funnelPath.Add(vector4);
a = vector4;
num2 = num3;
b = a;
vector4 = a;
num4 = num2;
num3 = num2;
i = num2;
}
}
}
lastCorner = true;
funnelPath.Add(this.left[count - 1]);
return(true);
}
public static bool RunFunnel(List <Vector3> left, List <Vector3> right, List <Vector3> funnelPath)
{
if (left == null)
{
throw new ArgumentNullException("left");
}
if (right == null)
{
throw new ArgumentNullException("right");
}
if (funnelPath == null)
{
throw new ArgumentNullException("funnelPath");
}
if (left.Count != right.Count)
{
throw new ArgumentException("left and right lists must have equal length");
}
if (left.Count <= 3)
{
return(false);
}
while ((left[1] == left[2]) && (right[1] == right[2]))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
}
Vector3 p = left[2];
if (p == left[1])
{
p = right[2];
}
while (VectorMath.IsColinearXZ(left[0], left[1], right[1]) || (VectorMath.RightOrColinearXZ(left[1], right[1], p) == VectorMath.RightOrColinearXZ(left[1], right[1], left[0])))
{
left.RemoveAt(1);
right.RemoveAt(1);
if (left.Count <= 3)
{
return(false);
}
p = left[2];
if (p == left[1])
{
p = right[2];
}
}
if (!VectorMath.IsClockwiseXZ(left[0], left[1], right[1]) && !VectorMath.IsColinearXZ(left[0], left[1], right[1]))
{
List <Vector3> list = left;
left = right;
right = list;
}
funnelPath.Add(left[0]);
Vector3 a = left[0];
Vector3 b = left[1];
Vector3 vector4 = right[1];
int num = 0;
int num2 = 1;
int num3 = 1;
for (int i = 2; i < left.Count; i++)
{
if (funnelPath.Count > 0x7d0)
{
Debug.LogWarning("Avoiding infinite loop. Remove this check if you have this long paths.");
break;
}
Vector3 c = left[i];
Vector3 vector6 = right[i];
if (VectorMath.SignedTriangleAreaTimes2XZ(a, vector4, vector6) >= 0f)
{
if ((a == vector4) || (VectorMath.SignedTriangleAreaTimes2XZ(a, b, vector6) <= 0f))
{
vector4 = vector6;
num2 = i;
}
else
{
funnelPath.Add(b);
a = b;
num = num3;
b = a;
vector4 = a;
num3 = num;
num2 = num;
i = num;
continue;
}
}
if (VectorMath.SignedTriangleAreaTimes2XZ(a, b, c) <= 0f)
{
if ((a == b) || (VectorMath.SignedTriangleAreaTimes2XZ(a, vector4, c) >= 0f))
{
b = c;
num3 = i;
}
else
{
funnelPath.Add(vector4);
a = vector4;
num = num2;
b = a;
vector4 = a;
num3 = num;
num2 = num;
i = num;
}
}
}
funnelPath.Add(left[left.Count - 1]);
return(true);
}
