public override int Prepare(ref TSBBox box)
{
bool flag = box.min.x < this.boundings.min.x;
if (flag)
{
this.minX = 0;
}
else
{
this.minX = (int)((long)FP.Floor((box.min.x - this.sphericalExpansion) / this.scaleX));
this.minX = (int)((long)TSMath.Max(this.minX, 0));
}
bool flag2 = box.max.x > this.boundings.max.x;
if (flag2)
{
this.maxX = this.heightsLength0 - 1;
}
else
{
this.maxX = (int)((long)FP.Ceiling((box.max.x + this.sphericalExpansion) / this.scaleX));
this.maxX = (int)((long)TSMath.Min(this.maxX, this.heightsLength0 - 1));
}
bool flag3 = box.min.z < this.boundings.min.z;
if (flag3)
{
this.minZ = 0;
}
else
{
this.minZ = (int)((long)FP.Floor((box.min.z - this.sphericalExpansion) / this.scaleZ));
this.minZ = (int)((long)TSMath.Max(this.minZ, 0));
}
bool flag4 = box.max.z > this.boundings.max.z;
if (flag4)
{
this.maxZ = this.heightsLength1 - 1;
}
else
{
this.maxZ = (int)((long)FP.Ceiling((box.max.z + this.sphericalExpansion) / this.scaleZ));
this.maxZ = (int)((long)TSMath.Min(this.maxZ, this.heightsLength1 - 1));
}
this.numX = this.maxX - this.minX;
this.numZ = this.maxZ - this.minZ;
return(this.numX * this.numZ * 2);
}
public override void Iterate()
{
bool flag = this.skipConstraint;
if (!flag)
{
FP x = TSVector.Dot(ref this.body1.linearVelocity, ref this.jacobian[0]);
x += TSVector.Dot(ref this.body2.linearVelocity, ref this.jacobian[1]);
FP y = this.accumulatedImpulse * this.softnessOverDt;
FP fP = -this.effectiveMass * (x + this.bias + y);
bool flag2 = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMinimumDistance;
if (flag2)
{
FP y2 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Max(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y2;
}
else
{
bool flag3 = this.behavior == SoftBody.Spring.DistanceBehavior.LimitMaximumDistance;
if (flag3)
{
FP y3 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Min(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y3;
}
else
{
this.accumulatedImpulse += fP;
}
}
bool flag4 = !this.body1.isStatic;
if (flag4)
{
TSVector tSVector;
TSVector.Multiply(ref this.jacobian[0], fP * this.body1.inverseMass, out tSVector);
TSVector.Add(ref tSVector, ref this.body1.linearVelocity, out this.body1.linearVelocity);
}
bool flag5 = !this.body2.isStatic;
if (flag5)
{
TSVector tSVector;
TSVector.Multiply(ref this.jacobian[1], fP * this.body2.inverseMass, out tSVector);
TSVector.Add(ref tSVector, ref this.body2.linearVelocity, out this.body2.linearVelocity);
}
}
}
public void Initialize(RigidBody body1, RigidBody body2, ref TSVector point1, ref TSVector point2, ref TSVector n, FP penetration, bool newContact, ContactSettings settings)
{
this.body1 = body1;
this.body2 = body2;
this.normal = n;
this.normal.Normalize();
this.p1 = point1;
this.p2 = point2;
this.newContact = newContact;
TSVector.Subtract(ref this.p1, ref body1.position, out this.relativePos1);
TSVector.Subtract(ref this.p2, ref body2.position, out this.relativePos2);
TSVector.Transform(ref this.relativePos1, ref body1.invOrientation, out this.realRelPos1);
TSVector.Transform(ref this.relativePos2, ref body2.invOrientation, out this.realRelPos2);
this.initialPen = penetration;
this.penetration = penetration;
this.body1IsMassPoint = body1.isParticle;
this.body2IsMassPoint = body2.isParticle;
if (newContact)
{
this.treatBody1AsStatic = body1.isStatic;
this.treatBody2AsStatic = body2.isStatic;
this.accumulatedNormalImpulse = FP.Zero;
this.accumulatedTangentImpulse = FP.Zero;
this.lostSpeculativeBounce = FP.Zero;
switch (settings.MaterialCoefficientMixing)
{
case ContactSettings.MaterialCoefficientMixingType.TakeMaximum:
this.staticFriction = TSMath.Max(body1.material.staticFriction, body2.material.staticFriction);
this.dynamicFriction = TSMath.Max(body1.material.kineticFriction, body2.material.kineticFriction);
this.restitution = TSMath.Max(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.TakeMinimum:
this.staticFriction = TSMath.Min(body1.material.staticFriction, body2.material.staticFriction);
this.dynamicFriction = TSMath.Min(body1.material.kineticFriction, body2.material.kineticFriction);
this.restitution = TSMath.Min(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.UseAverage:
this.staticFriction = (body1.material.staticFriction + body2.material.staticFriction) / (2 * FP.One);
this.dynamicFriction = (body1.material.kineticFriction + body2.material.kineticFriction) / (2 * FP.One);
this.restitution = (body1.material.restitution + body2.material.restitution) / (2 * FP.One);
break;
}
}
this.settings = settings;
}
public override void Iterate()
{
bool flag = this.skipConstraint;
if (!flag)
{
FP x = this.body1.linearVelocity * this.jacobian[0] + this.body1.angularVelocity * this.jacobian[1] + this.body2.linearVelocity * this.jacobian[2] + this.body2.angularVelocity * this.jacobian[3];
FP y = this.accumulatedImpulse * this.softnessOverDt;
FP fP = -this.effectiveMass * (x + this.bias + y);
bool flag2 = this.behavior == PointPointDistance.DistanceBehavior.LimitMinimumDistance;
if (flag2)
{
FP y2 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Max(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y2;
}
else
{
bool flag3 = this.behavior == PointPointDistance.DistanceBehavior.LimitMaximumDistance;
if (flag3)
{
FP y3 = this.accumulatedImpulse;
this.accumulatedImpulse = TSMath.Min(this.accumulatedImpulse + fP, 0);
fP = this.accumulatedImpulse - y3;
}
else
{
this.accumulatedImpulse += fP;
}
}
bool flag4 = !this.body1.isStatic;
if (flag4)
{
this.body1.linearVelocity += this.body1.inverseMass * fP * this.jacobian[0];
this.body1.angularVelocity += TSVector.Transform(fP * this.jacobian[1], this.body1.invInertiaWorld);
}
bool flag5 = !this.body2.isStatic;
if (flag5)
{
this.body2.linearVelocity += this.body2.inverseMass * fP * this.jacobian[2];
this.body2.angularVelocity += TSVector.Transform(fP * this.jacobian[3], this.body2.invInertiaWorld);
}
}
}
public static void Min(ref TSVector2 value1, ref TSVector2 value2, out TSVector2 result)
{
result.x = TSMath.Min(value1.x, value2.x);
result.y = TSMath.Min(value1.y, value2.y);
}
public static TSVector2 Min(TSVector2 value1, TSVector2 value2)
{
return(new TSVector2(
TSMath.Min(value1.x, value2.x),
TSMath.Min(value1.y, value2.y)));
}
