public bool UpdateSuspensionContacts(float dt, float updatePeriod)
{
this.numContacts = 0;
this.averageSurfaceVelocity = Vector3.zero;
this.averageVelocity = Vector3.zero;
bool flag = true;
for (int i = 0; i < this.rays.Length; i++)
{
SuspensionRay ray = this.rays[i];
ray.Update(dt, updatePeriod);
flag &= ray.hasCollision;
if (ray.hasCollision)
{
this.numContacts++;
this.averageSurfaceVelocity += ray.surfaceVelocity;
this.averageVelocity += ray.velocity;
}
}
if (!flag && (updatePeriod > 0f))
{
for (int j = 0; j < this.rays.Length; j++)
{
this.rays[j].ResetContinuousRaycast();
}
}
if (this.numContacts > 1)
{
this.averageSurfaceVelocity /= (float)this.numContacts;
this.averageVelocity /= (float)this.numContacts;
}
return(flag);
}
private void ApplyTrackRayNormal(ref Vector3 currentNrm, SuspensionRay ray)
{
if (ray.hasCollision)
{
currentNrm += ray.rayHit.normal;
}
}
private void AddSurfaceVelocitiesFromRay(ChassisNode node, SuspensionRay ray, Vector3 contactsMidpoint, ref Vector3 surfaceVelocity, ref Vector3 angularSurfaceVelocity)
{
if (ray.hasCollision)
{
surfaceVelocity += ray.surfaceVelocity;
Vector3 lhs = ray.rayHit.point - contactsMidpoint;
float sqrMagnitude = lhs.sqrMagnitude;
if (sqrMagnitude > 0.0001f)
{
angularSurfaceVelocity += Vector3.Cross(lhs, ray.surfaceVelocity) / sqrMagnitude;
}
}
}
private void ApplyForceFromRay(SuspensionRay ray, Rigidbody rigidbody, Vector3 bodyForwardAxis, float forcePerRay)
{
if (ray.hasCollision)
{
float num = Mathf.Abs(Mathf.Acos(ray.rayHit.normal.normalized.y));
if (num < 1.047198f)
{
float num2 = forcePerRay;
if (num > 1.047198f)
{
num2 *= (1.047198f - num) / 0.2617994f;
}
Vector3 force = bodyForwardAxis * num2;
rigidbody.AddForceAtPositionSafe(force, ray.GetGlobalOrigin());
}
}
}
private Vector3 GetContactsMidpoint(ChassisConfigComponent chassisConfig, TrackComponent tracks)
{
Vector3 vector = new Vector3();
for (int i = 0; i < chassisConfig.NumRaysPerTrack; i++)
{
SuspensionRay ray = tracks.LeftTrack.rays[i];
if (ray.hasCollision)
{
vector += ray.rayHit.point;
}
ray = tracks.RightTrack.rays[i];
if (ray.hasCollision)
{
vector += ray.rayHit.point;
}
}
int num2 = tracks.LeftTrack.numContacts + tracks.RightTrack.numContacts;
return((num2 != 0) ? (vector / ((float)num2)) : Vector3.zero);
}
private Vector3 GetFallingNrm(bool fallingByTrack, TrackComponent track, ChassisConfigComponent chassisConfig, TankCollisionComponent tankCollision, out bool isFallingOnTank)
{
Vector3 zero = Vector3.zero;
isFallingOnTank = false;
if (!fallingByTrack)
{
Collision collision = tankCollision.Collision;
if (!this.CheckTankCollisionNotNull(tankCollision))
{
return(zero.normalized);
}
ContactPoint[] contacts = collision.contacts;
if (contacts == null)
{
return(zero.normalized);
}
int length = contacts.Length;
for (int i = 0; i < length; i++)
{
ContactPoint point = contacts[i];
zero += point.normal;
if (!isFallingOnTank)
{
Collider otherCollider = point.otherCollider;
if (this.ValidateCollider(otherCollider))
{
int layer = otherCollider.gameObject.layer;
isFallingOnTank |= this.CheckTankLayer(layer);
}
}
}
}
else
{
int numRaysPerTrack = chassisConfig.NumRaysPerTrack;
SuspensionRay[] rays = track.LeftTrack.rays;
SuspensionRay[] rayArray2 = track.RightTrack.rays;
for (int i = 0; i < numRaysPerTrack; i++)
{
SuspensionRay ray = rays[i];
SuspensionRay ray2 = rayArray2[i];
this.ApplyTrackRayNormal(ref zero, ray);
this.ApplyTrackRayNormal(ref zero, ray2);
if (!isFallingOnTank)
{
if (ray.hasCollision)
{
if ((ray.rayHit.collider == null) || (ray.rayHit.collider.gameObject == null))
{
return(zero.normalized);
}
if (this.ValidateCollider(ray.rayHit.collider))
{
int layer = ray.rayHit.collider.gameObject.layer;
isFallingOnTank |= this.CheckTankLayer(layer);
}
}
if (ray2.hasCollision)
{
if ((ray2.rayHit.collider == null) || (ray2.rayHit.collider.gameObject == null))
{
return(zero.normalized);
}
if (this.ValidateCollider(ray2.rayHit.collider))
{
int layer = ray2.rayHit.collider.gameObject.layer;
isFallingOnTank |= this.CheckTankLayer(layer);
}
}
}
}
}
return(zero.normalized);
}
