// Token: 0x0600001A RID: 26 RVA: 0x00002B84 File Offset: 0x00000F84
public GraphNode ClampAlongNavmesh(Vector3 startPos, GraphNode _startNode, Vector3 endPos, out Vector3 clampedPos)
{
TriangleMeshNode triangleMeshNode = (TriangleMeshNode)_startNode;
clampedPos = endPos;
Stack <TriangleMeshNode> stack = this.tmpStack;
List <TriangleMeshNode> list = this.tmpClosed;
stack.Clear();
list.Clear();
float num = float.PositiveInfinity;
TriangleMeshNode result = null;
Vector3 vector = (startPos + endPos) / 2f;
float num2 = AstarMath.MagnitudeXZ(startPos, endPos) / 2f;
Vector3 vector2 = startPos;
stack.Push(triangleMeshNode);
list.Add(triangleMeshNode);
INavmesh navmesh = AstarData.GetGraph(triangleMeshNode) as INavmesh;
if (navmesh == null)
{
return(triangleMeshNode);
}
while (stack.Count > 0)
{
TriangleMeshNode triangleMeshNode2 = stack.Pop();
int tileIndex = ((RecastGraph)navmesh).GetTileIndex(triangleMeshNode2.GetVertexIndex(0));
Int3[] verts = ((RecastGraph)navmesh).GetTiles()[tileIndex].verts;
int vertexArrayIndex = triangleMeshNode2.GetVertexArrayIndex(triangleMeshNode2.v0);
int vertexArrayIndex2 = triangleMeshNode2.GetVertexArrayIndex(triangleMeshNode2.v1);
int vertexArrayIndex3 = triangleMeshNode2.GetVertexArrayIndex(triangleMeshNode2.v2);
if (NavMeshGraph.ContainsPoint(vertexArrayIndex, vertexArrayIndex2, vertexArrayIndex3, endPos, verts))
{
result = triangleMeshNode2;
vector2 = endPos;
break;
}
int i = 0;
int i2 = 2;
while (i < 3)
{
int vertexIndex = triangleMeshNode2.GetVertexIndex(i2);
int vertexIndex2 = triangleMeshNode2.GetVertexIndex(i);
bool flag = true;
TriangleMeshNode triangleMeshNode3 = null;
for (int j = 0; j < triangleMeshNode2.connections.Length; j++)
{
triangleMeshNode3 = (triangleMeshNode2.connections[j] as TriangleMeshNode);
if (triangleMeshNode3 != null)
{
int k = 0;
int i3 = 2;
while (k < 3)
{
int vertexIndex3 = triangleMeshNode3.GetVertexIndex(i3);
int vertexIndex4 = triangleMeshNode3.GetVertexIndex(k);
if ((vertexIndex3 == vertexIndex && vertexIndex4 == vertexIndex2) || (vertexIndex3 == vertexIndex2 && vertexIndex4 == vertexIndex))
{
flag = false;
break;
}
i3 = k++;
}
if (!flag)
{
break;
}
}
}
if (flag)
{
Vector3 vector3 = AstarMath.NearestPointStrictXZ((Vector3)verts[vertexIndex], (Vector3)verts[vertexIndex2], endPos);
float num3 = AstarMath.MagnitudeXZ(vector3, endPos);
if (num3 < num)
{
vector2 = vector3;
num = num3;
result = triangleMeshNode2;
}
}
else if (!list.Contains(triangleMeshNode3))
{
list.Add(triangleMeshNode3);
Vector3 vector3 = AstarMath.NearestPointStrictXZ((Vector3)verts[vertexIndex], (Vector3)verts[vertexIndex2], vector);
float num3 = AstarMath.MagnitudeXZ(vector3, vector);
if (num3 <= num2)
{
stack.Push(triangleMeshNode3);
}
}
i2 = i++;
}
}
clampedPos = vector2;
return(result);
}