public static bool ClosestPoints(ISupportMappable support1, ISupportMappable support2, ref TSMatrix orientation1, ref TSMatrix orientation2, ref TSVector position1, ref TSVector position2, out TSVector p1, out TSVector p2, out TSVector normal)
{
VoronoiSimplexSolver @new = GJKCollide.simplexSolverPool.GetNew();
@new.Reset();
p1 = (p2 = TSVector.zero);
TSVector value = position1 - position2;
TSVector tSVector = TSVector.Negate(value);
TSVector tSVector2;
GJKCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector, out tSVector2);
TSVector tSVector3;
GJKCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref value, out tSVector3);
TSVector tSVector4 = tSVector2 - tSVector3;
normal = TSVector.zero;
int num = 15;
FP x = tSVector4.sqrMagnitude;
FP eN = FP.EN5;
while (x > eN && num-- != 0)
{
TSVector tSVector5 = TSVector.Negate(tSVector4);
GJKCollide.SupportMapTransformed(support1, ref orientation1, ref position1, ref tSVector5, out tSVector2);
GJKCollide.SupportMapTransformed(support2, ref orientation2, ref position2, ref tSVector4, out tSVector3);
TSVector w = tSVector2 - tSVector3;
bool flag = [email protected](w);
if (flag)
{
@new.AddVertex(w, tSVector2, tSVector3);
}
bool flag2 = @new.Closest(out tSVector4);
if (flag2)
{
x = tSVector4.sqrMagnitude;
normal = tSVector4;
}
else
{
x = FP.Zero;
}
}
@new.ComputePoints(out p1, out p2);
bool flag3 = normal.sqrMagnitude > TSMath.Epsilon * TSMath.Epsilon;
if (flag3)
{
normal.Normalize();
}
GJKCollide.simplexSolverPool.GiveBack(@new);
return(true);
}
public static bool Pointcast(ISupportMappable support, ref TSMatrix orientation, ref TSVector position, ref TSVector point)
{
TSVector tSVector;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref point, out tSVector);
TSVector.Subtract(ref point, ref tSVector, out tSVector);
TSVector tSVector2;
support.SupportCenter(out tSVector2);
TSVector.Transform(ref tSVector2, ref orientation, out tSVector2);
TSVector.Add(ref position, ref tSVector2, out tSVector2);
TSVector.Subtract(ref point, ref tSVector2, out tSVector2);
TSVector p = point;
TSVector tSVector3;
TSVector.Subtract(ref p, ref tSVector, out tSVector3);
FP x = tSVector3.sqrMagnitude;
FP eN = FP.EN4;
int num = 15;
VoronoiSimplexSolver @new = GJKCollide.simplexSolverPool.GetNew();
@new.Reset();
bool result;
while (x > eN && num-- != 0)
{
TSVector q;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref tSVector3, out q);
TSVector w;
TSVector.Subtract(ref p, ref q, out w);
FP x2 = TSVector.Dot(ref tSVector3, ref w);
bool flag = x2 > FP.Zero;
if (flag)
{
FP x3 = TSVector.Dot(ref tSVector3, ref tSVector2);
bool flag2 = x3 >= -(TSMath.Epsilon * TSMath.Epsilon);
if (flag2)
{
GJKCollide.simplexSolverPool.GiveBack(@new);
result = false;
return(result);
}
@new.Reset();
}
bool flag3 = [email protected](w);
if (flag3)
{
@new.AddVertex(w, p, q);
}
bool flag4 = @new.Closest(out tSVector3);
if (flag4)
{
x = tSVector3.sqrMagnitude;
}
else
{
x = FP.Zero;
}
}
GJKCollide.simplexSolverPool.GiveBack(@new);
result = true;
return(result);
}
public static bool Raycast(ISupportMappable support, ref TSMatrix orientation, ref TSMatrix invOrientation, ref TSVector position, ref TSVector origin, ref TSVector direction, out FP fraction, out TSVector normal)
{
VoronoiSimplexSolver @new = GJKCollide.simplexSolverPool.GetNew();
@new.Reset();
normal = TSVector.zero;
fraction = FP.MaxValue;
FP fP = FP.Zero;
TSVector tSVector = direction;
TSVector p = origin;
TSVector tSVector2;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref tSVector, out tSVector2);
TSVector tSVector3;
TSVector.Subtract(ref p, ref tSVector2, out tSVector3);
int num = 15;
FP x = tSVector3.sqrMagnitude;
FP eN = FP.EN6;
bool result;
while (x > eN && num-- != 0)
{
TSVector q;
GJKCollide.SupportMapTransformed(support, ref orientation, ref position, ref tSVector3, out q);
TSVector w;
TSVector.Subtract(ref p, ref q, out w);
FP x2 = TSVector.Dot(ref tSVector3, ref w);
bool flag = x2 > FP.Zero;
if (flag)
{
FP fP2 = TSVector.Dot(ref tSVector3, ref tSVector);
bool flag2 = fP2 >= -TSMath.Epsilon;
if (flag2)
{
GJKCollide.simplexSolverPool.GiveBack(@new);
result = false;
return(result);
}
fP -= x2 / fP2;
TSVector.Multiply(ref tSVector, fP, out p);
TSVector.Add(ref origin, ref p, out p);
TSVector.Subtract(ref p, ref q, out w);
normal = tSVector3;
}
bool flag3 = [email protected](w);
if (flag3)
{
@new.AddVertex(w, p, q);
}
bool flag4 = @new.Closest(out tSVector3);
if (flag4)
{
x = tSVector3.sqrMagnitude;
}
else
{
x = FP.Zero;
}
}
TSVector tSVector4;
TSVector value;
@new.ComputePoints(out tSVector4, out value);
value -= origin;
fraction = value.magnitude / direction.magnitude;
bool flag5 = normal.sqrMagnitude > TSMath.Epsilon * TSMath.Epsilon;
if (flag5)
{
normal.Normalize();
}
GJKCollide.simplexSolverPool.GiveBack(@new);
result = true;
return(result);
}
