// Token: 0x06000466 RID: 1126 RVA: 0x000146E8 File Offset: 0x000128E8
private static void ProjectOntoAxis(Triangle3 tri, UnitVector3 axis, out double min, out double max)
{
double num = axis.Dot(tri.V0);
double num2 = axis.Dot(tri.V1);
double num3 = axis.Dot(tri.V2);
min = num;
max = min;
if (num2 < min)
{
min = num2;
}
else if (num2 > max)
{
max = num2;
}
if (num3 < min)
{
min = num3;
return;
}
if (num3 > max)
{
max = num3;
}
}
// Token: 0x0600047F RID: 1151 RVA: 0x00015FBC File Offset: 0x000141BC
public static AxisAlignedBox3 ComputeAxisAlignedBoundingBox(this Circle3 circle)
{
Vector3 center = circle.Center;
UnitVector3 normal = circle.Normal;
double a = Math.Acos(normal.Dot(UnitVector3.UnitX));
double a2 = Math.Acos(normal.Dot(UnitVector3.UnitY));
double a3 = Math.Acos(normal.Dot(UnitVector3.UnitZ));
Vector3 vector = new Vector3(Math.Sin(a), Math.Sin(a2), Math.Sin(a3));
vector *= circle.Radius;
return(new AxisAlignedBox3(center - vector, center + vector));
}
// Token: 0x060001B3 RID: 435 RVA: 0x00009C98 File Offset: 0x00007E98
public Rectangle3(Vector3 center, UnitVector3 axis0, UnitVector3 axis1, double extent0, double extent1)
{
this = default(Rectangle3);
MathBase.Assert(Math.Abs(axis0.Dot(axis1)) < 1E-08, "Rectangle3 constructor: axes not perpendicular.");
this.Axis0 = axis0;
this.Axis1 = axis1;
this.Extent0 = extent0;
this.Extent1 = extent1;
this.Center = center;
}
internal static Segment3?DoClipping(double fT0, double fT1, Vector3 origin, UnitVector3 direction, Box3 box)
{
MathBase.Assert(fT0 < fT1, "Intersection.DoClipping(): invalid arguments");
Vector3 vector = origin - box.Center;
Vector3 vector2 = new Vector3(vector.Dot(box.Axis0), vector.Dot(box.Axis1), vector.Dot(box.Axis2));
Vector3 vector3 = new Vector3(direction.Dot(box.Axis0), direction.Dot(box.Axis1), direction.Dot(box.Axis2));
if (!Intersection.Clip(vector3.X, -vector2.X - box.Extent0, ref fT0, ref fT1) || !Intersection.Clip(-vector3.X, vector2.X - box.Extent0, ref fT0, ref fT1) || !Intersection.Clip(vector3.Y, -vector2.Y - box.Extent1, ref fT0, ref fT1) || !Intersection.Clip(-vector3.Y, vector2.Y - box.Extent1, ref fT0, ref fT1) || !Intersection.Clip(vector3.Z, -vector2.Z - box.Extent2, ref fT0, ref fT1) || !Intersection.Clip(-vector3.Z, vector2.Z - box.Extent2, ref fT0, ref fT1))
{
return(null);
}
if (fT1 > fT0)
{
Vector3 left = origin + fT0 * direction;
Vector3 right = origin + fT1 * direction;
Vector3 origin2 = (left + right) * 0.5;
double extent = (left - right).Length * 0.5;
return(new Segment3?(new Segment3(origin2, direction, extent)));
}
return(new Segment3?(new Segment3(origin + fT0 * direction, direction, 0.0)));
}
// 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: 0x0600037A RID: 890 RVA: 0x0000F064 File Offset: 0x0000D264
internal static int Find(Vector3 origin, UnitVector3 dir, Cylinder3 cylinder, double[] t)
{
UnitVector3 direction = cylinder.Axis.Direction;
UnitVector3 unitVector;
UnitVector3 unitVector2;
Vector3Factory.GenerateComplementBasis(out unitVector, out unitVector2, direction);
double num = 0.5 * cylinder.Height;
double num2 = cylinder.Radius * cylinder.Radius;
Vector3 vector = origin - cylinder.Axis.Origin;
Vector3 vector2 = new Vector3(unitVector.Dot(vector), unitVector2.Dot(vector), direction.Dot(vector));
double num3 = direction.Dot(dir);
if (Math.Abs(num3) >= 0.99999999)
{
if (num2 - vector2.X * vector2.X - vector2.Y * vector2.Y < 0.0)
{
return(0);
}
if (num3 > 0.0)
{
t[0] = -vector2.Z - num;
t[1] = -vector2.Z + num;
}
else
{
t[0] = vector2.Z - num;
t[1] = vector2.Z + num;
}
return(2);
}
else
{
Vector3 vector3 = new Vector3(unitVector.Dot(dir), unitVector2.Dot(dir), num3);
if (Math.Abs(vector3.Z) <= 1E-08)
{
if (Math.Abs(vector2.Z) > num)
{
return(0);
}
double num4 = vector2.X * vector2.X + vector2.Y * vector2.Y - num2;
double num5 = vector2.X * vector3.X + vector2.Y * vector3.Y;
double num6 = vector3.X * vector3.X + vector3.Y * vector3.Y;
double num7 = num5;
double num8 = num7 * num7 - num4 * num6;
if (num8 < -1E-08)
{
return(0);
}
if (num8 > 1E-08)
{
double num9 = Math.Sqrt(num8);
double num10 = 1.0 / num6;
t[0] = (-num5 - num9) * num10;
t[1] = (-num5 + num9) * num10;
return(2);
}
t[0] = -num5 / num6;
return(1);
}
else
{
int num11 = 0;
double num10 = 1.0 / vector3.Z;
double num12 = (-num - vector2.Z) * num10;
double num13 = vector2.X + num12 * vector3.X;
double num14 = vector2.Y + num12 * vector3.Y;
double num15 = num13 * num13;
double num16 = num14;
if (num15 + num16 * num16 <= num2)
{
t[num11++] = num12;
}
double num17 = (num - vector2.Z) * num10;
double num18 = vector2.X + num17 * vector3.X;
num14 = vector2.Y + num17 * vector3.Y;
double num19 = num18 * num18;
double num20 = num14;
if (num19 + num20 * num20 <= num2)
{
t[num11++] = num17;
}
if (num11 == 2)
{
if (t[0] > t[1])
{
double num21 = t[0];
t[0] = t[1];
t[1] = num21;
}
return(2);
}
double num4 = vector2.X * vector2.X + vector2.Y * vector2.Y - num2;
double num5 = vector2.X * vector3.X + vector2.Y * vector3.Y;
double num6 = vector3.X * vector3.X + vector3.Y * vector3.Y;
double num22 = num5;
double num8 = num22 * num22 - num4 * num6;
if (num8 < -1E-08)
{
MathBase.Assert(num11 == 0, "IntersectionLine3Cylinder3: Unexpected condition\n");
return(0);
}
if (num8 > 1E-08)
{
double num9 = Math.Sqrt(num8);
num10 = 1.0 / num6;
double num23 = (-num5 - num9) * num10;
if (num11 != 1 || Math.Abs(t[0] - num23) >= 1E-08)
{
if (num12 <= num17)
{
if (num12 <= num23 && num23 <= num17)
{
t[num11++] = num23;
}
}
else if (num17 <= num23 && num23 <= num12)
{
t[num11++] = num23;
}
}
if (num11 == 2)
{
if (t[0] > t[1])
{
double num24 = t[0];
t[0] = t[1];
t[1] = num24;
}
return(2);
}
num23 = (-num5 + num9) * num10;
if (num12 <= num17)
{
if (num12 <= num23 && num23 <= num17)
{
t[num11++] = num23;
}
}
else if (num17 <= num23 && num23 <= num12)
{
t[num11++] = num23;
}
}
else
{
double num23 = -num5 / num6;
if (num12 <= num17)
{
if (num12 <= num23 && num23 <= num17)
{
t[num11++] = num23;
}
}
else if (num17 <= num23 && num23 <= num12)
{
t[num11++] = num23;
}
}
if (num11 == 2 && t[0] > t[1])
{
double num25 = t[0];
t[0] = t[1];
t[1] = num25;
}
return(num11);
}
}
}
// 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: 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;
}
}
// Token: 0x06000459 RID: 1113 RVA: 0x00013A04 File Offset: 0x00011C04
public bool Test()
{
Vector3[] array = new Vector3[3];
array[0] = this.triangle.V1 - this.triangle.V0;
array[1] = this.triangle.V2 - this.triangle.V0;
Vector3 axis = array[0].Cross(array[1]);
double num = axis.Dot(this.triangle.V0);
double num2 = num;
double num3;
double num4;
IntersectionUtility3.GetProjection(axis, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
UnitVector3 unitVector = this.box.Axis0;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num5 = unitVector.Dot(this.box.Center);
num3 = num5 - this.box.Extent0;
num4 = num5 + this.box.Extent0;
if (num4 < num || num2 < num3)
{
return(false);
}
unitVector = this.box.Axis1;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num6 = unitVector.Dot(this.box.Center);
num3 = num6 - this.box.Extent1;
num4 = num6 + this.box.Extent1;
if (num4 < num || num2 < num3)
{
return(false);
}
unitVector = this.box.Axis2;
IntersectionUtility3.GetProjection((Vector3)unitVector, this.triangle, out num, out num2);
double num7 = unitVector.Dot(this.box.Center);
num3 = num7 - this.box.Extent2;
num4 = num7 + this.box.Extent2;
if (num4 < num || num2 < num3)
{
return(false);
}
array[2] = array[1] - array[0];
for (int i = 0; i < 3; i++)
{
Vector3 axis2 = array[i].Cross(this.box.Axis0);
IntersectionUtility3.GetProjection(axis2, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis2, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
Vector3 axis3 = array[i].Cross(this.box.Axis1);
IntersectionUtility3.GetProjection(axis3, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis3, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
Vector3 axis4 = array[i].Cross(this.box.Axis2);
IntersectionUtility3.GetProjection(axis4, this.triangle, out num, out num2);
IntersectionUtility3.GetProjection(axis4, this.box, out num3, out num4);
if (num4 < num || num2 < num3)
{
return(false);
}
}
return(true);
}