// Token: 0x06000487 RID: 1159 RVA: 0x000167AC File Offset: 0x000149AC
public static AxisAlignedBox3 ComputeAxisAlignedBoundingBox(this Cylinder3 cylinder)
{
double scalar = cylinder.Height / 2.0;
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(cylinder.Axis.Direction);
Circle3 circle = new Circle3(cylinder.Axis.Origin + scalar * cylinder.Axis.Direction, affineTransform.AxisX, affineTransform.AxisY, affineTransform.AxisZ, cylinder.Radius);
Circle3 circle2 = new Circle3(cylinder.Axis.Origin - scalar * cylinder.Axis.Direction, affineTransform.AxisX, affineTransform.AxisY, affineTransform.AxisZ, cylinder.Radius);
AxisAlignedBox3 axisAlignedBox = circle.ComputeAxisAlignedBoundingBox();
AxisAlignedBox3 other = circle2.ComputeAxisAlignedBoundingBox();
return(axisAlignedBox.CreateMergedWith(other));
}
// Token: 0x06000468 RID: 1128 RVA: 0x000147E8 File Offset: 0x000129E8
private bool ContainsPoint(Triangle3 triangle, Plane3 plane, Vector3 point)
{
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(plane.Normal);
UnitVector3 axisX = affineTransform.AxisX;
UnitVector3 axisY = affineTransform.AxisY;
Vector3 vector = point - triangle.V0;
Vector3 vector2 = triangle.V1 - triangle.V0;
Vector3 vector3 = triangle.V2 - triangle.V0;
Vector2 rkP = new Vector2(axisX.Dot(vector), axisY.Dot(vector));
Vector2[] vertices = new Vector2[]
{
Vector2.Zero,
new Vector2(axisX.Dot(vector2), axisY.Dot(vector2)),
new Vector2(axisX.Dot(vector3), axisY.Dot(vector3))
};
if (new IntersectionTriangle3Triangle3.Query2(3, vertices).ToTriangle(rkP, 0, 1, 2) <= 0)
{
this.Quantity = 1;
this.Points[0] = point;
return(true);
}
return(false);
}
// Token: 0x060004AB RID: 1195 RVA: 0x00017B54 File Offset: 0x00015D54
public static Vector3 Rotate(this Quaternion quaternion, Vector3 vector)
{
AffineTransform3 affineTransform = Transform3Factory.CreateFromQuaternion(quaternion);
return(new Matrix3((Vector3)affineTransform.AxisX, (Vector3)affineTransform.AxisY, (Vector3)affineTransform.AxisZ) * vector);
}
// Token: 0x060004D5 RID: 1237 RVA: 0x000190A7 File Offset: 0x000172A7
public static AffineTransform3 CreateFromAxisAngle(UnitVector3 axis, Angle angle)
{
return(Transform3Factory.CreateFromAxisAngle(axis, angle, Vector3.Zero));
}
// Token: 0x060004D4 RID: 1236 RVA: 0x00019094 File Offset: 0x00017294
public static AffineTransform3 CreateFromAxisAngle(UnitVector3 axis, Angle angle, Vector3 origin)
{
return(Transform3Factory.CreateFromAxisAngle(axis, angle, origin, 1.0));
}
public static AffineTransform3 CreateFromAxisAngle(UnitVector3 axis, double angle, Vector3 origin, double scale)
{
return(Transform3Factory.CreateFromAxisAngle(axis, Angle.FromRadians(angle), origin, scale));
}
// Token: 0x060004CF RID: 1231 RVA: 0x00018E99 File Offset: 0x00017099
public static AffineTransform3 Combine(AffineTransform3 first, AffineTransform3 second, AffineTransform3 third)
{
return(Transform3Factory.Combine(Transform3Factory.Combine(first, second), third));
}
// Token: 0x060004D9 RID: 1241 RVA: 0x000191DD File Offset: 0x000173DD
public static AffineTransform3 CreateFromQuaternion(Quaternion quaternion)
{
return(Transform3Factory.CreateFromQuaternion(quaternion, Vector3.Zero));
}
// Token: 0x060004D8 RID: 1240 RVA: 0x000191CB File Offset: 0x000173CB
public static AffineTransform3 CreateFromQuaternion(Quaternion quaternion, Vector3 origin)
{
return(Transform3Factory.CreateFromQuaternion(quaternion, origin, 1.0));
}
// Token: 0x060000D9 RID: 217 RVA: 0x000052B4 File Offset: 0x000034B4
public DistanceLine3Rectangle3(Line3 line, Rectangle3 rectangle)
{
this = default(DistanceLine3Rectangle3);
if (Math.Abs(rectangle.Axis0.Cross(rectangle.Axis1).Dot(line.Direction)) > 1E-08)
{
Vector3 vector = line.Origin - rectangle.Center;
UnitVector3 direction = line.Direction;
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(direction);
double num = affineTransform.AxisX.Dot(rectangle.Axis0);
double num2 = affineTransform.AxisX.Dot(rectangle.Axis1);
double num3 = affineTransform.AxisX.Dot(vector);
double num4 = affineTransform.AxisY.Dot(rectangle.Axis0);
double num5 = affineTransform.AxisY.Dot(rectangle.Axis1);
double num6 = affineTransform.AxisY.Dot(vector);
double num7 = 1.0 / (num * num5 - num2 * num4);
double num8 = (num5 * num3 - num2 * num6) * num7;
double num9 = (num * num6 - num4 * num3) * num7;
if (Math.Abs(num8) <= rectangle.Extent0 && Math.Abs(num9) <= rectangle.Extent1)
{
double num10 = direction.Dot(rectangle.Axis0);
double num11 = direction.Dot(rectangle.Axis1);
double num12 = line.Direction.Dot(vector);
this.LineParameter = num8 * num10 + num9 * num11 - num12;
this.RectCoord0 = num8;
this.RectCoord1 = num9;
this.ClosestPointOnLine = line.Origin + this.LineParameter * line.Direction;
this.ClosestPointOnRectangle = rectangle.Center + num8 * rectangle.Axis0 + num9 * rectangle.Axis1;
this.SquaredDistance = 0.0;
return;
}
}
double num13 = double.MaxValue;
Vector3[] array = new Vector3[]
{
rectangle.Extent0 *rectangle.Axis0,
rectangle.Extent1 *rectangle.Axis1
};
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 2; j++)
{
Vector3 origin = rectangle.Center + (double)(2 * j - 1) * array[i];
UnitVector3 direction2 = (i == 0) ? rectangle.Axis1 : rectangle.Axis0;
double extent = (i == 0) ? rectangle.Extent1 : rectangle.Extent0;
Segment3 segment = new Segment3(origin, direction2, extent);
DistanceLine3Segment3 distanceLine3Segment = new DistanceLine3Segment3(line, segment);
double squaredDistance = distanceLine3Segment.SquaredDistance;
if (squaredDistance < num13)
{
this.ClosestPointOnLine = distanceLine3Segment.ClosestPointOnLine;
this.ClosestPointOnRectangle = distanceLine3Segment.ClosestPointOnSegment;
num13 = squaredDistance;
this.LineParameter = distanceLine3Segment.LineParameter;
double num14 = distanceLine3Segment.SegmentParameter / segment.Extent;
this.RectCoord0 = rectangle.Extent0 * ((double)((1 - i) * (2 * j - 1)) + (double)i * num14);
this.RectCoord1 = rectangle.Extent1 * ((double)((1 - j) * (2 * i - 1)) + (double)j * num14);
}
}
}
this.SquaredDistance = num13;
}
// Token: 0x060004B2 RID: 1202 RVA: 0x0001810D File Offset: 0x0001630D
public static AffineTransform3 Transform(this AffineTransform3 transformer, AffineTransform3 source)
{
return(Transform3Factory.Combine(source, transformer));
}
// Token: 0x060000F3 RID: 243 RVA: 0x000058E0 File Offset: 0x00003AE0
public DistanceLine3Triangle3(Line3 line, Triangle3 triangle)
{
this = default(DistanceLine3Triangle3);
Vector3 vector = triangle.V1 - triangle.V0;
Vector3 vector2 = triangle.V2 - triangle.V0;
UnitVector3 unitVector;
if (vector.TryGetUnitCross(vector2, out unitVector) && Math.Abs(unitVector.Dot(line.Direction)) > 1E-08)
{
Vector3 vector3 = line.Origin - triangle.V0;
UnitVector3 direction = line.Direction;
AffineTransform3 affineTransform = Transform3Factory.CreateOrthonormalBasis(direction);
double num = affineTransform.AxisX.Dot(vector);
double num2 = affineTransform.AxisX.Dot(vector2);
double num3 = affineTransform.AxisX.Dot(vector3);
double num4 = affineTransform.AxisY.Dot(vector);
double num5 = affineTransform.AxisY.Dot(vector2);
double num6 = affineTransform.AxisY.Dot(vector3);
double num7 = 1.0 / (num * num5 - num2 * num4);
double num8 = (num5 * num3 - num2 * num6) * num7;
double num9 = (num * num6 - num4 * num3) * num7;
double num10 = 1.0 - num8 - num9;
if (num10 >= 0.0 && num8 >= 0.0 && num9 >= 0.0)
{
double num11 = direction.Dot(vector);
double num12 = direction.Dot(vector2);
double num13 = line.Direction.Dot(vector3);
this.LineParameter = num8 * num11 + num9 * num12 - num13;
this.TriangleBary0 = num10;
this.TriangleBary1 = num8;
this.TriangleBary2 = num9;
this.ClosestPointOnLine = line.Origin + this.LineParameter * line.Direction;
this.ClosestPointOnTriangle = triangle.V0 + num8 * vector + num9 * vector2;
this.SquaredDistance = 0.0;
return;
}
}
Segment3 segment = new Segment3(triangle.V2, triangle.V0);
DistanceLine3Segment3 distanceLine3Segment = new DistanceLine3Segment3(line, segment);
this.ClosestPointOnLine = distanceLine3Segment.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment.SquaredDistance;
this.LineParameter = distanceLine3Segment.LineParameter;
this.TriangleBary2 = 0.5 * (1.0 - distanceLine3Segment.SegmentParameter / segment.Extent);
this.TriangleBary0 = 1.0 - this.TriangleBary2;
this.TriangleBary1 = 0.0;
Segment3 segment2 = new Segment3(triangle.V0, triangle.V1);
DistanceLine3Segment3 distanceLine3Segment2 = new DistanceLine3Segment3(line, segment2);
if (distanceLine3Segment2.SquaredDistance < this.SquaredDistance)
{
this.ClosestPointOnLine = distanceLine3Segment2.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment2.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment2.SquaredDistance;
this.LineParameter = distanceLine3Segment2.LineParameter;
this.TriangleBary0 = 0.5 * (1.0 - distanceLine3Segment2.SegmentParameter / segment2.Extent);
this.TriangleBary1 = 1.0 - this.TriangleBary0;
this.TriangleBary2 = 0.0;
}
Segment3 segment3 = new Segment3(triangle.V1, triangle.V2);
DistanceLine3Segment3 distanceLine3Segment3 = new DistanceLine3Segment3(line, segment3);
if (distanceLine3Segment3.SquaredDistance < this.SquaredDistance)
{
this.ClosestPointOnLine = distanceLine3Segment3.ClosestPointOnLine;
this.ClosestPointOnTriangle = distanceLine3Segment3.ClosestPointOnSegment;
this.SquaredDistance = distanceLine3Segment3.SquaredDistance;
this.LineParameter = distanceLine3Segment3.LineParameter;
this.TriangleBary1 = 0.5 * (1.0 - distanceLine3Segment3.SegmentParameter / segment3.Extent);
this.TriangleBary2 = 1.0 - this.TriangleBary1;
this.TriangleBary0 = 0.0;
}
}