|
public static DotLong ( |
||
| lhs | ||
| rhs | ||
| return | long | |
public void Apply(bool forceNewCheck)
{
NNConstraint none = NNConstraint.None;
none.distanceXZ = true;
int graphIndex = (int)this.startNode.GraphIndex;
none.graphMask = ~(1 << graphIndex);
bool flag = true;
NNInfo nearest = AstarPath.active.GetNearest(this.StartTransform.position, none);
flag &= (nearest.node == this.connectedNode1 && nearest.node != null);
this.connectedNode1 = (nearest.node as MeshNode);
this.clamped1 = nearest.clampedPosition;
if (this.connectedNode1 != null)
{
Debug.DrawRay((Vector3)this.connectedNode1.position, Vector3.up * 5f, Color.red);
}
NNInfo nearest2 = AstarPath.active.GetNearest(this.EndTransform.position, none);
flag &= (nearest2.node == this.connectedNode2 && nearest2.node != null);
this.connectedNode2 = (nearest2.node as MeshNode);
this.clamped2 = nearest2.clampedPosition;
if (this.connectedNode2 != null)
{
Debug.DrawRay((Vector3)this.connectedNode2.position, Vector3.up * 5f, Color.cyan);
}
if (this.connectedNode2 == null || this.connectedNode1 == null)
{
return;
}
this.startNode.SetPosition((Int3)this.StartTransform.position);
this.endNode.SetPosition((Int3)this.EndTransform.position);
if (flag && !forceNewCheck)
{
return;
}
this.RemoveConnections(this.startNode);
this.RemoveConnections(this.endNode);
uint cost = (uint)Mathf.RoundToInt((float)((Int3)(this.StartTransform.position - this.EndTransform.position)).costMagnitude * this.costFactor);
this.startNode.AddConnection(this.endNode, cost);
this.endNode.AddConnection(this.startNode, cost);
Int3 rhs = this.connectedNode2.position - this.connectedNode1.position;
for (int i = 0; i < this.connectedNode1.GetVertexCount(); i++)
{
Int3 vertex = this.connectedNode1.GetVertex(i);
Int3 vertex2 = this.connectedNode1.GetVertex((i + 1) % this.connectedNode1.GetVertexCount());
if (Int3.DotLong((vertex2 - vertex).Normal2D(), rhs) <= 0L)
{
for (int j = 0; j < this.connectedNode2.GetVertexCount(); j++)
{
Int3 vertex3 = this.connectedNode2.GetVertex(j);
Int3 vertex4 = this.connectedNode2.GetVertex((j + 1) % this.connectedNode2.GetVertexCount());
if (Int3.DotLong((vertex4 - vertex3).Normal2D(), rhs) >= 0L)
{
if ((double)Int3.Angle(vertex4 - vertex3, vertex2 - vertex) > 2.9670598109563189)
{
float num = 0f;
float num2 = 1f;
num2 = Math.Min(num2, VectorMath.ClosestPointOnLineFactor(vertex, vertex2, vertex3));
num = Math.Max(num, VectorMath.ClosestPointOnLineFactor(vertex, vertex2, vertex4));
if (num2 >= num)
{
Vector3 vector = (Vector3)(vertex2 - vertex) * num + (Vector3)vertex;
Vector3 vector2 = (Vector3)(vertex2 - vertex) * num2 + (Vector3)vertex;
this.startNode.portalA = vector;
this.startNode.portalB = vector2;
this.endNode.portalA = vector2;
this.endNode.portalB = vector;
this.connectedNode1.AddConnection(this.startNode, (uint)Mathf.RoundToInt((float)((Int3)(this.clamped1 - this.StartTransform.position)).costMagnitude * this.costFactor));
this.connectedNode2.AddConnection(this.endNode, (uint)Mathf.RoundToInt((float)((Int3)(this.clamped2 - this.EndTransform.position)).costMagnitude * this.costFactor));
this.startNode.AddConnection(this.connectedNode1, (uint)Mathf.RoundToInt((float)((Int3)(this.clamped1 - this.StartTransform.position)).costMagnitude * this.costFactor));
this.endNode.AddConnection(this.connectedNode2, (uint)Mathf.RoundToInt((float)((Int3)(this.clamped2 - this.EndTransform.position)).costMagnitude * this.costFactor));
return;
}
Debug.LogError(string.Concat(new object[]
{
"Wait wut!? ",
num,
" ",
num2,
" ",
vertex,
" ",
vertex2,
" ",
vertex3,
" ",
vertex4,
"\nTODO, fix this error"
}));
}
}
}
}
}
}
public void Apply(bool forceNewCheck)
{
//TODO
//This function assumes that connections from the n1,n2 nodes never need to be removed in the future (e.g because the nodes move or something)
NNConstraint nn = NNConstraint.None;
nn.distanceXZ = true;
int graph = (int)startNode.GraphIndex;
//Search all graphs but the one which start and end nodes are on
nn.graphMask = ~(1 << graph);
bool same = true;
if (true)
{
var n1 = AstarPath.active.GetNearest(StartTransform.position, nn);
same &= n1.node == connectedNode1 && n1.node != null;
connectedNode1 = n1.node as MeshNode;
clamped1 = n1.position;
if (connectedNode1 != null)
{
Debug.DrawRay((Vector3)connectedNode1.position, Vector3.up * 5, Color.red);
}
}
if (true)
{
var n2 = AstarPath.active.GetNearest(EndTransform.position, nn);
same &= n2.node == connectedNode2 && n2.node != null;
connectedNode2 = n2.node as MeshNode;
clamped2 = n2.position;
if (connectedNode2 != null)
{
Debug.DrawRay((Vector3)connectedNode2.position, Vector3.up * 5, Color.cyan);
}
}
if (connectedNode2 == null || connectedNode1 == null)
{
return;
}
startNode.SetPosition((Int3)StartTransform.position);
endNode.SetPosition((Int3)EndTransform.position);
if (same && !forceNewCheck)
{
return;
}
RemoveConnections(startNode);
RemoveConnections(endNode);
uint cost = (uint)Mathf.RoundToInt(((Int3)(StartTransform.position - EndTransform.position)).costMagnitude * costFactor);
startNode.AddConnection(endNode, cost);
endNode.AddConnection(startNode, cost);
Int3 dir = connectedNode2.position - connectedNode1.position;
for (int a = 0; a < connectedNode1.GetVertexCount(); a++)
{
Int3 va1 = connectedNode1.GetVertex(a);
Int3 va2 = connectedNode1.GetVertex((a + 1) % connectedNode1.GetVertexCount());
if (Int3.DotLong((va2 - va1).Normal2D(), dir) > 0)
{
continue;
}
for (int b = 0; b < connectedNode2.GetVertexCount(); b++)
{
Int3 vb1 = connectedNode2.GetVertex(b);
Int3 vb2 = connectedNode2.GetVertex((b + 1) % connectedNode2.GetVertexCount());
if (Int3.DotLong((vb2 - vb1).Normal2D(), dir) < 0)
{
continue;
}
//Debug.DrawLine ((Vector3)va1, (Vector3)va2, Color.magenta);
//Debug.DrawLine ((Vector3)vb1, (Vector3)vb2, Color.cyan);
//Debug.Break ();
if (Int3.Angle((vb2 - vb1), (va2 - va1)) > (170.0 / 360.0f) * Mathf.PI * 2)
{
float t1 = 0;
float t2 = 1;
t2 = System.Math.Min(t2, VectorMath.ClosestPointOnLineFactor(va1, va2, vb1));
t1 = System.Math.Max(t1, VectorMath.ClosestPointOnLineFactor(va1, va2, vb2));
if (t2 < t1)
{
Debug.LogError("Wait wut!? " + t1 + " " + t2 + " " + va1 + " " + va2 + " " + vb1 + " " + vb2 + "\nTODO, fix this error");
}
else
{
Vector3 pa = (Vector3)(va2 - va1) * t1 + (Vector3)va1;
Vector3 pb = (Vector3)(va2 - va1) * t2 + (Vector3)va1;
startNode.portalA = pa;
startNode.portalB = pb;
endNode.portalA = pb;
endNode.portalB = pa;
//Add connections between nodes, or replace old connections if existing
connectedNode1.AddConnection(startNode, (uint)Mathf.RoundToInt(((Int3)(clamped1 - StartTransform.position)).costMagnitude * costFactor));
connectedNode2.AddConnection(endNode, (uint)Mathf.RoundToInt(((Int3)(clamped2 - EndTransform.position)).costMagnitude * costFactor));
startNode.AddConnection(connectedNode1, (uint)Mathf.RoundToInt(((Int3)(clamped1 - StartTransform.position)).costMagnitude * costFactor));
endNode.AddConnection(connectedNode2, (uint)Mathf.RoundToInt(((Int3)(clamped2 - EndTransform.position)).costMagnitude * costFactor));
return;
}
}
}
}
}
public void Apply(bool forceNewCheck)
{
NNConstraint none = NNConstraint.None;
none.distanceXZ = true;
int graphIndex = (int)this.startNode.GraphIndex;
none.graphMask = ~(((int)1) << graphIndex);
bool flag = true;
NNInfo nearest = AstarPath.active.GetNearest(this.StartTransform.position, none);
flag &= (nearest.node == this.connectedNode1) && (nearest.node != null);
this.connectedNode1 = nearest.node as MeshNode;
this.clamped1 = nearest.position;
if (this.connectedNode1 != null)
{
Debug.DrawRay((Vector3)this.connectedNode1.position, (Vector3)(Vector3.up * 5f), Color.red);
}
NNInfo info2 = AstarPath.active.GetNearest(this.EndTransform.position, none);
flag &= (info2.node == this.connectedNode2) && (info2.node != null);
this.connectedNode2 = info2.node as MeshNode;
this.clamped2 = info2.position;
if (this.connectedNode2 != null)
{
Debug.DrawRay((Vector3)this.connectedNode2.position, (Vector3)(Vector3.up * 5f), Color.cyan);
}
if ((this.connectedNode2 != null) && (this.connectedNode1 != null))
{
this.startNode.SetPosition((Int3)this.StartTransform.position);
this.endNode.SetPosition((Int3)this.EndTransform.position);
if (!flag || forceNewCheck)
{
this.RemoveConnections(this.startNode);
this.RemoveConnections(this.endNode);
Int3 num12 = (Int3)(this.StartTransform.position - this.EndTransform.position);
uint cost = (uint)Mathf.RoundToInt(num12.costMagnitude * this.costFactor);
this.startNode.AddConnection(this.endNode, cost);
this.endNode.AddConnection(this.startNode, cost);
Int3 rhs = this.connectedNode2.position - this.connectedNode1.position;
for (int i = 0; i < this.connectedNode1.GetVertexCount(); i++)
{
Int3 vertex = this.connectedNode1.GetVertex(i);
Int3 lineEnd = this.connectedNode1.GetVertex((i + 1) % this.connectedNode1.GetVertexCount());
Int3 num13 = lineEnd - vertex;
if (Int3.DotLong(num13.Normal2D(), rhs) <= 0L)
{
for (int j = 0; j < this.connectedNode2.GetVertexCount(); j++)
{
Int3 point = this.connectedNode2.GetVertex(j);
Int3 num9 = this.connectedNode2.GetVertex((j + 1) % this.connectedNode2.GetVertexCount());
Int3 num14 = num9 - point;
if ((Int3.DotLong(num14.Normal2D(), rhs) >= 0L) && (Int3.Angle(num9 - point, lineEnd - vertex) > 2.9670598109563189))
{
float num10 = 0f;
float num11 = 1f;
num11 = Math.Min(num11, VectorMath.ClosestPointOnLineFactor(vertex, lineEnd, point));
num10 = Math.Max(num10, VectorMath.ClosestPointOnLineFactor(vertex, lineEnd, num9));
if (num11 >= num10)
{
Vector3 vector = ((Vector3)(((Vector3)(lineEnd - vertex)) * num10)) + ((Vector3)vertex);
Vector3 vector2 = ((Vector3)(((Vector3)(lineEnd - vertex)) * num11)) + ((Vector3)vertex);
this.startNode.portalA = vector;
this.startNode.portalB = vector2;
this.endNode.portalA = vector2;
this.endNode.portalB = vector;
Int3 num15 = (Int3)(this.clamped1 - this.StartTransform.position);
this.connectedNode1.AddConnection(this.startNode, (uint)Mathf.RoundToInt(num15.costMagnitude * this.costFactor));
Int3 num16 = (Int3)(this.clamped2 - this.EndTransform.position);
this.connectedNode2.AddConnection(this.endNode, (uint)Mathf.RoundToInt(num16.costMagnitude * this.costFactor));
Int3 num17 = (Int3)(this.clamped1 - this.StartTransform.position);
this.startNode.AddConnection(this.connectedNode1, (uint)Mathf.RoundToInt(num17.costMagnitude * this.costFactor));
Int3 num18 = (Int3)(this.clamped2 - this.EndTransform.position);
this.endNode.AddConnection(this.connectedNode2, (uint)Mathf.RoundToInt(num18.costMagnitude * this.costFactor));
return;
}
Debug.LogError(string.Concat(new object[] { "Wait wut!? ", num10, " ", num11, " ", vertex, " ", lineEnd, " ", point, " ", num9, "\nTODO, fix this error" }));
}
}
}
}
}
}
}