public float InsertAgentNeighbour(Agent agent, float rangeSq)
{
if (this == agent)
{
return rangeSq;
}
if ((agent.layer & this.collidesWith) == (RVOLayer)0)
{
return rangeSq;
}
float num = this.Sqr(agent.position.x - this.position.x) + this.Sqr(agent.position.z - this.position.z);
if (num < rangeSq)
{
if (this.neighbours.Count < this.maxNeighbours)
{
this.neighbours.Add(agent);
this.neighbourDists.Add(num);
}
int num2 = this.neighbours.Count - 1;
if (num < this.neighbourDists[num2])
{
while (num2 != 0 && num < this.neighbourDists[num2 - 1])
{
this.neighbours[num2] = this.neighbours[num2 - 1];
this.neighbourDists[num2] = this.neighbourDists[num2 - 1];
num2--;
}
this.neighbours[num2] = agent;
this.neighbourDists[num2] = num;
}
if (this.neighbours.Count == this.maxNeighbours)
{
rangeSq = this.neighbourDists[this.neighbourDists.Count - 1];
}
}
return rangeSq;
}
private Vector2 Trace(Agent.VO[] vos, int voCount, Vector2 p, float cutoff, out float score)
{
score = 0f;
float stepScale = this.simulator.stepScale;
float num = float.PositiveInfinity;
Vector2 result = p;
for (int i = 0; i < 50; i++)
{
float num2 = 1f - (float)i / 50f;
num2 *= stepScale;
Vector2 vector = Vector2.zero;
float num3 = 0f;
for (int j = 0; j < voCount; j++)
{
float num4;
Vector2 b = vos[j].Sample(p, out num4);
vector += b;
if (num4 > num3)
{
num3 = num4;
}
}
Vector2 a = new Vector2(this.desiredVelocity.x, this.desiredVelocity.z) - p;
float val = a.magnitude * Agent.DesiredVelocityWeight;
vector += a * Agent.DesiredVelocityScale;
num3 = Math.Max(num3, val);
score = num3;
if (score < num)
{
num = score;
}
result = p;
if (score <= cutoff && i > 10)
{
break;
}
float sqrMagnitude = vector.sqrMagnitude;
if (sqrMagnitude > 0f)
{
vector *= num3 / Mathf.Sqrt(sqrMagnitude);
}
vector *= num2;
Vector2 p2 = p;
p += vector;
if (this.DebugDraw)
{
UnityEngine.Debug.DrawLine(Agent.To3D(p2) + this.position, Agent.To3D(p) + this.position, Agent.Rainbow(0.1f / score) * new Color(1f, 1f, 1f, 0.2f));
}
}
score = num;
return result;
}
// Token: 0x060028F5 RID: 10485 RVA: 0x001BA630 File Offset: 0x001B8830
private Vector2 Trace(Agent.VOBuffer vos, Vector2 p, out float score)
{
float num = Mathf.Max(this.radius, 0.2f * this.desiredSpeed);
float num2 = float.PositiveInfinity;
Vector2 result = p;
for (int i = 0; i < 50; i++)
{
float num3 = 1f - (float)i / 50f;
num3 = Agent.Sqr(num3) * num;
float num4;
Vector2 vector = this.EvaluateGradient(vos, p, out num4);
if (num4 < num2)
{
num2 = num4;
result = p;
}
vector.Normalize();
vector *= num3;
Vector2 a = p;
p += vector;
if (this.DebugDraw)
{
Debug.DrawLine(Agent.FromXZ(a + this.position), Agent.FromXZ(p + this.position), Agent.Rainbow((float)i * 0.1f) * new Color(1f, 1f, 1f, 1f));
}
}
score = num2;
return(result);
}