private static bool Update(ref ConvexHull2.Edge hull, int i, Query2 query)
{
ConvexHull2.Edge edge = null;
ConvexHull2.Edge edge2 = hull;
while (edge2.GetSign(i, query) <= 0)
{
edge2 = edge2.E1;
if (edge2 == hull)
{
IL_20:
if (edge == null)
{
return(true);
}
ConvexHull2.Edge e = edge.E0;
if (e == null)
{
Logger.LogError("Expecting nonnull adjacent");
return(false);
}
ConvexHull2.Edge e2 = edge.E1;
if (e2 == null)
{
Logger.LogError("Expecting nonnull adjacent");
return(false);
}
edge.DeleteSelf();
while (e.GetSign(i, query) > 0)
{
hull = e;
e = e.E0;
if (e == null)
{
Logger.LogError("Expecting nonnull adjacent");
return(false);
}
e.E1.DeleteSelf();
}
while (e2.GetSign(i, query) > 0)
{
hull = e2;
e2 = e2.E1;
if (e2 == null)
{
Logger.LogError("Expecting nonnull adjacent");
return(false);
}
e2.E0.DeleteSelf();
}
ConvexHull2.Edge edge3 = new ConvexHull2.Edge(e.V1, i);
ConvexHull2.Edge edge4 = new ConvexHull2.Edge(i, e2.V0);
edge3.Insert(e, edge4);
edge4.Insert(edge3, e2);
hull = edge3;
return(true);
}
}
edge = edge2;
goto IL_20;
}
public int GetSign(int i, Query2 query)
{
if (i != this.Time)
{
this.Time = i;
this.Sign = query.ToLine(i, this.V0, this.V1);
}
return(this.Sign);
}
public static bool Create(IList <Vector2> vertices, float epsilon, out int dimension, out int[] indices)
{
Vector2ex.Information information = Vector2ex.GetInformation(vertices, epsilon);
if (information == null)
{
dimension = -1;
indices = null;
return(false);
}
int count = vertices.Count;
if (information.Dimension == 0)
{
dimension = 0;
int[] array = new int[1];
indices = array;
return(true);
}
if (information.Dimension == 1)
{
float[] array2 = new float[count];
Vector2 origin = information.Origin;
Vector2 vector = information.Direction[0];
for (int i = 0; i < count; i++)
{
Vector2 value = vertices[i] - origin;
array2[i] = vector.Dot(value);
}
ConvexHull1.Create(array2, epsilon, out dimension, out indices);
return(true);
}
dimension = 2;
Vector2[] array3 = new Vector2[count];
Vector2 min = information.Min;
float d = 1f / information.MaxRange;
for (int j = 0; j < count; j++)
{
array3[j] = (vertices[j] - min) * d;
}
Query2 query = new Query2(array3);
int num = information.Extreme[0];
int num2 = information.Extreme[1];
int num3 = information.Extreme[2];
ConvexHull2.Edge edge;
ConvexHull2.Edge edge2;
ConvexHull2.Edge edge3;
if (information.ExtremeCCW)
{
edge = new ConvexHull2.Edge(num, num2);
edge2 = new ConvexHull2.Edge(num2, num3);
edge3 = new ConvexHull2.Edge(num3, num);
}
else
{
edge = new ConvexHull2.Edge(num, num3);
edge2 = new ConvexHull2.Edge(num3, num2);
edge3 = new ConvexHull2.Edge(num2, num);
}
edge.Insert(edge3, edge2);
edge2.Insert(edge, edge3);
edge3.Insert(edge2, edge);
ConvexHull2.Edge edge4 = edge;
for (int k = 0; k < count; k++)
{
if (!ConvexHull2.Update(ref edge4, k, query))
{
dimension = -1;
indices = null;
return(false);
}
}
edge4.GetIndices(out indices);
return(true);
}