|
public ClosestPointOnNodeXZ ( |
||
| _p | ||
| return | ||
// Token: 0x060025F4 RID: 9716 RVA: 0x001A3488 File Offset: 0x001A1688
private void SearchBoxClosestXZ(int boxi, Vector3 p, ref float closestSqrDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
for (int i = 0; i < 4; i++)
{
if (array[bbtreeBox.nodeOffset + i] == null)
{
return;
}
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + i];
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
Vector3 vector = triangleMeshNode.ClosestPointOnNodeXZ(p);
float num = (vector.x - p.x) * (vector.x - p.x) + (vector.z - p.z) * (vector.z - p.z);
if (nnInfo.constrainedNode == null || num < closestSqrDist - 1E-06f || (num <= closestSqrDist + 1E-06f && Mathf.Abs(vector.y - p.y) < Mathf.Abs(nnInfo.constClampedPosition.y - p.y)))
{
nnInfo.constrainedNode = triangleMeshNode;
nnInfo.constClampedPosition = vector;
closestSqrDist = num;
}
}
}
}
else
{
int left = bbtreeBox.left;
int right = bbtreeBox.right;
float num2;
float num3;
this.GetOrderedChildren(ref left, ref right, out num2, out num3, p);
if (num2 <= closestSqrDist)
{
this.SearchBoxClosestXZ(left, p, ref closestSqrDist, constraint, ref nnInfo);
}
if (num3 <= closestSqrDist)
{
this.SearchBoxClosestXZ(right, p, ref closestSqrDist, constraint, ref nnInfo);
}
}
}
private void SearchBoxClosestXZ(int boxi, Vector3 p, ref float closestSqrDist, NNConstraint constraint, ref NNInfoInternal nnInfo)
{
BBTree.BBTreeBox bbtreeBox = this.tree[boxi];
if (bbtreeBox.IsLeaf)
{
TriangleMeshNode[] array = this.nodeLookup;
int num = 0;
while (num < 4 && array[bbtreeBox.nodeOffset + num] != null)
{
TriangleMeshNode triangleMeshNode = array[bbtreeBox.nodeOffset + num];
if (constraint == null || constraint.Suitable(triangleMeshNode))
{
Vector3 constClampedPosition = triangleMeshNode.ClosestPointOnNodeXZ(p);
float num2 = (constClampedPosition.x - p.x) * (constClampedPosition.x - p.x) + (constClampedPosition.z - p.z) * (constClampedPosition.z - p.z);
if (nnInfo.constrainedNode == null || num2 < closestSqrDist - 1E-06f || (num2 <= closestSqrDist + 1E-06f && Mathf.Abs(constClampedPosition.y - p.y) < Mathf.Abs(nnInfo.constClampedPosition.y - p.y)))
{
nnInfo.constrainedNode = triangleMeshNode;
nnInfo.constClampedPosition = constClampedPosition;
closestSqrDist = num2;
}
}
num++;
}
}
else
{
int left = bbtreeBox.left;
int right = bbtreeBox.right;
float num3;
float num4;
this.GetOrderedChildren(ref left, ref right, out num3, out num4, p);
if (num3 <= closestSqrDist)
{
this.SearchBoxClosestXZ(left, p, ref closestSqrDist, constraint, ref nnInfo);
}
if (num4 <= closestSqrDist)
{
this.SearchBoxClosestXZ(right, p, ref closestSqrDist, constraint, ref nnInfo);
}
}
}
public TriangleMeshNode GetNearestByRasterizer(Int3 position, out Int3 clampedPosition)
{
clampedPosition = Int3.zero;
if (this.rasterizer == null)
{
return(null);
}
TriangleMeshNode triangleMeshNode = this.GetLocatedByRasterizer(position);
if (triangleMeshNode != null)
{
clampedPosition = position;
return(triangleMeshNode);
}
triangleMeshNode = this.FindNearestByRasterizer(position, -1);
if (triangleMeshNode == null)
{
return(null);
}
clampedPosition = triangleMeshNode.ClosestPointOnNodeXZ(position);
return(triangleMeshNode);
}
void FindWalls(int nodeIndex, List <Vector3> wallBuffer, Vector3 position, float range)
{
if (range <= 0)
{
return;
}
bool negAbort = false;
bool posAbort = false;
range *= range;
position.y = 0;
//Looping as 0,-1,1,-2,2,-3,3,-4,4 etc. Avoids code duplication by keeping it to one loop instead of two
for (int i = 0; !negAbort || !posAbort; i = i < 0 ? -i : -i - 1)
{
if (i < 0 && negAbort)
{
continue;
}
if (i > 0 && posAbort)
{
continue;
}
if (i < 0 && nodeIndex + i < 0)
{
negAbort = true;
continue;
}
if (i > 0 && nodeIndex + i >= nodes.Count)
{
posAbort = true;
continue;
}
TriangleMeshNode prev = nodeIndex + i - 1 < 0 ? null : nodes[nodeIndex + i - 1];
TriangleMeshNode node = nodes[nodeIndex + i];
TriangleMeshNode next = nodeIndex + i + 1 >= nodes.Count ? null : nodes[nodeIndex + i + 1];
if (node.Destroyed)
{
break;
}
if ((node.ClosestPointOnNodeXZ(position) - position).sqrMagnitude > range)
{
if (i < 0)
{
negAbort = true;
}
else
{
posAbort = true;
}
continue;
}
for (int j = 0; j < 3; j++)
{
triBuffer[j] = 0;
}
for (int j = 0; j < node.connections.Length; j++)
{
var other = node.connections[j] as TriangleMeshNode;
if (other == null)
{
continue;
}
int va = -1;
for (int a = 0; a < 3; a++)
{
for (int b = 0; b < 3; b++)
{
if (node.GetVertex(a) == other.GetVertex((b + 1) % 3) && node.GetVertex((a + 1) % 3) == other.GetVertex(b))
{
va = a;
a = 3;
break;
}
}
}
if (va == -1)
{
//No direct connection
}
else
{
triBuffer[va] = other == prev || other == next ? 2 : 1;
}
}
for (int j = 0; j < 3; j++)
{
//Tribuffer values
// 0 : Navmesh border, outer edge
// 1 : Inner edge, to node inside funnel
// 2 : Inner edge, to node outside funnel
if (triBuffer[j] == 0)
{
//Add edge to list of walls
wallBuffer.Add((Vector3)node.GetVertex(j));
wallBuffer.Add((Vector3)node.GetVertex((j + 1) % 3));
}
}
}
}
public Vector3 Update(Vector3 position, List <Vector3> buffer, int numCorners, out bool lastCorner, out bool requiresRepath)
{
lastCorner = false;
requiresRepath = false;
var i3Pos = (Int3)position;
if (nodes[currentNode].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
// Check if we are in the same node as we were in during the last frame
if (nodes[currentNode].ContainsPoint(i3Pos))
{
// Only check for destroyed nodes every 10 frames
if (checkForDestroyedNodesCounter >= 10)
{
checkForDestroyedNodesCounter = 0;
// Loop through all nodes and check if they are destroyed
// If so, we really need a recalculation of our path quickly
// since there might be an obstacle blocking our path after
// a graph update or something similar
for (int i = 0, t = nodes.Count; i < t; i++)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
break;
}
}
}
else
{
checkForDestroyedNodesCounter++;
}
}
else
{
// This part of the code is relatively seldom called
// Most of the time we are still on the same node as during the previous frame
// Otherwise check the 2 nodes ahead and 2 nodes back
// If they contain the node in XZ space, then we probably moved into those nodes
bool found = false;
// 2 nodes ahead
for (int i = currentNode + 1, t = System.Math.Min(currentNode + 3, nodes.Count); i < t && !found; i++)
{
// If the node is destroyed, make sure we recalculate a new path quickly
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
// We found a node which contains our current position in XZ space
if (nodes[i].ContainsPoint(i3Pos))
{
currentNode = i;
found = true;
}
}
// 2 nodes behind
for (int i = currentNode - 1, t = System.Math.Max(currentNode - 3, 0); i > t && !found; i--)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
if (nodes[i].ContainsPoint(i3Pos))
{
currentNode = i;
found = true;
}
}
if (!found)
{
int closestNodeInPath = 0;
int closestIsNeighbourOf = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
int containingIndex = nodes.Count - 1;
// If we still couldn't find a good node
// Check all nodes in the whole path
// We are checking for if any node is destroyed in the loop
// So we can reset this counter
checkForDestroyedNodesCounter = 0;
for (int i = 0, t = nodes.Count; i < t; i++)
{
if (nodes[i].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
Vector3 close = nodes[i].ClosestPointOnNode(position);
float d = (close - position).sqrMagnitude;
if (d < closestDist)
{
closestDist = d;
closestNodeInPath = i;
closestNode = nodes[i];
closestIsInPath = true;
}
}
// Loop through all neighbours of all nodes in the path
// and find the closet point on them
// We cannot just look on the ones in the path since it is impossible
// to know if we are outside the navmesh completely or if we have just
// stepped in to an adjacent node
// Need to make a copy here, the JIT will move this variable to the heap
// because it is used inside a delegate, if we didn't make a copy here
// we would *always* allocate 24 bytes (sizeof(position)) on the heap every time
// this method was called
// now we only do it when this IF statement is executed
var posCopy = position;
GraphNodeDelegate del = node => {
// Check so that this neighbour we are processing is neither the node after the current node or the node before the current node in the path
// This is done for optimization, we have already checked those nodes earlier
if (!(containingIndex > 0 && node == nodes[containingIndex - 1]) && !(containingIndex < nodes.Count - 1 && node == nodes[containingIndex + 1]))
{
// Check if the neighbour was a mesh node
var mn = node as TriangleMeshNode;
if (mn != null)
{
// Find the distance to the closest point on it from our current position
var close = mn.ClosestPointOnNode(posCopy);
float d = (close - posCopy).sqrMagnitude;
// Is that distance better than the best distance seen so far
if (d < closestDist)
{
closestDist = d;
closestIsNeighbourOf = containingIndex;
closestNode = mn;
closestIsInPath = false;
}
}
}
};
// Loop through all the nodes in the path in reverse order
// The callback needs to know about the index, so we store it
// in a local variable which it can read
for (; containingIndex >= 0; containingIndex--)
{
// Loop through all neighbours of the node
nodes[containingIndex].GetConnections(del);
}
// Check if the closest node
// was on the path already or if we need to adjust it
if (closestIsInPath)
{
// If we have found a node
// Snap to the closest point in XZ space (keep the Y coordinate)
// If we would have snapped to the closest point in 3D space, the agent
// might slow down when traversing slopes
currentNode = closestNodeInPath;
position = nodes[closestNodeInPath].ClosestPointOnNodeXZ(position);
}
else
{
// Snap to the closest point in XZ space on the node
position = closestNode.ClosestPointOnNodeXZ(position);
// We have found a node containing the position, but it is outside the funnel
// Recalculate the funnel to include this node
exactStart = position;
UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
// Restart from the first node in the updated path
currentNode = 0;
}
}
}
currentPosition = position;
if (!FindNextCorners(position, currentNode, buffer, numCorners, out lastCorner))
{
Debug.LogError("Oh oh");
buffer.Add(position);
return(position);
}
return(position);
}
private void FindWalls(int nodeIndex, List <Vector3> wallBuffer, Vector3 position, float range)
{
if (range <= 0f)
{
return;
}
bool flag = false;
bool flag2 = false;
range *= range;
position.y = 0f;
int num = 0;
while (!flag || !flag2)
{
if (num >= 0 || !flag)
{
if (num <= 0 || !flag2)
{
if (num < 0 && nodeIndex + num < 0)
{
flag = true;
}
else if (num > 0 && nodeIndex + num >= this.nodes.Count)
{
flag2 = true;
}
else
{
TriangleMeshNode triangleMeshNode = (nodeIndex + num - 1 >= 0) ? this.nodes[nodeIndex + num - 1] : null;
TriangleMeshNode triangleMeshNode2 = this.nodes[nodeIndex + num];
TriangleMeshNode triangleMeshNode3 = (nodeIndex + num + 1 < this.nodes.Count) ? this.nodes[nodeIndex + num + 1] : null;
if (triangleMeshNode2.Destroyed)
{
break;
}
if ((triangleMeshNode2.ClosestPointOnNodeXZ(position) - position).sqrMagnitude > range)
{
if (num < 0)
{
flag = true;
}
else
{
flag2 = true;
}
}
else
{
for (int i = 0; i < 3; i++)
{
this.triBuffer[i] = 0;
}
for (int j = 0; j < triangleMeshNode2.connections.Length; j++)
{
TriangleMeshNode triangleMeshNode4 = triangleMeshNode2.connections[j].node as TriangleMeshNode;
if (triangleMeshNode4 != null)
{
int num2 = -1;
for (int k = 0; k < 3; k++)
{
for (int l = 0; l < 3; l++)
{
if (triangleMeshNode2.GetVertex(k) == triangleMeshNode4.GetVertex((l + 1) % 3) && triangleMeshNode2.GetVertex((k + 1) % 3) == triangleMeshNode4.GetVertex(l))
{
num2 = k;
k = 3;
break;
}
}
}
if (num2 != -1)
{
this.triBuffer[num2] = ((triangleMeshNode4 != triangleMeshNode && triangleMeshNode4 != triangleMeshNode3) ? 1 : 2);
}
}
}
for (int m = 0; m < 3; m++)
{
if (this.triBuffer[m] == 0)
{
wallBuffer.Add((Vector3)triangleMeshNode2.GetVertex(m));
wallBuffer.Add((Vector3)triangleMeshNode2.GetVertex((m + 1) % 3));
}
}
}
}
}
}
num = ((num >= 0) ? (-num - 1) : (-num));
}
if (this.path.transform != null)
{
for (int n = 0; n < wallBuffer.Count; n++)
{
wallBuffer[n] = this.path.transform.Transform(wallBuffer[n]);
}
}
}
private bool ClampToNavmeshInternalFull(ref Vector3 position)
{
int index = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
this.checkForDestroyedNodesCounter = 0;
int i = 0;
int count = this.nodes.Count;
while (i < count)
{
if (this.nodes[i].Destroyed)
{
return(true);
}
Vector3 a = this.nodes[i].ClosestPointOnNode(position);
float sqrMagnitude = (a - position).sqrMagnitude;
if (sqrMagnitude < closestDist)
{
closestDist = sqrMagnitude;
index = i;
closestNode = this.nodes[i];
closestIsInPath = true;
}
i++;
}
Vector3 posCopy = position;
int containingIndex = this.nodes.Count - 1;
int closestIsNeighbourOf = 0;
Action <GraphNode> action = delegate(GraphNode node)
{
if ((containingIndex <= 0 || node != this.nodes[containingIndex - 1]) && (containingIndex >= this.nodes.Count - 1 || node != this.nodes[containingIndex + 1]))
{
TriangleMeshNode triangleMeshNode = node as TriangleMeshNode;
if (triangleMeshNode != null)
{
Vector3 a2 = triangleMeshNode.ClosestPointOnNode(posCopy);
float sqrMagnitude2 = (a2 - posCopy).sqrMagnitude;
if (sqrMagnitude2 < closestDist)
{
closestDist = sqrMagnitude2;
closestIsNeighbourOf = containingIndex;
closestNode = triangleMeshNode;
closestIsInPath = false;
}
}
}
};
while (containingIndex >= 0)
{
this.nodes[containingIndex].GetConnections(action);
containingIndex--;
}
if (closestIsInPath)
{
this.currentNode = index;
position = this.nodes[index].ClosestPointOnNodeXZ(position);
}
else
{
position = closestNode.ClosestPointOnNodeXZ(position);
this.exactStart = position;
this.UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
this.currentNode = 0;
}
return(false);
}
bool ClampToNavmeshInternalFull(ref Vector3 position)
{
int closestNodeInPath = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
// If we still couldn't find a good node
// Check all nodes in the whole path
// We are checking for if any node is destroyed in the loop
// So we can reset this counter
checkForDestroyedNodesCounter = 0;
for (int i = 0, t = nodes.Count; i < t; i++)
{
if (nodes[i].Destroyed)
{
return(true);
}
Vector3 close = nodes[i].ClosestPointOnNode(position);
float d = (close - position).sqrMagnitude;
if (d < closestDist)
{
closestDist = d;
closestNodeInPath = i;
closestNode = nodes[i];
closestIsInPath = true;
}
}
// Loop through all neighbours of all nodes in the path
// and find the closet point on them
// We cannot just look on the ones in the path since it is impossible
// to know if we are outside the navmesh completely or if we have just
// stepped in to an adjacent node
// Need to make a copy because ref parameters cannot be used inside delegates
var posCopy = position;
int containingIndex = nodes.Count - 1;
int closestIsNeighbourOf = 0;
System.Action <GraphNode> del = node => {
// Check so that this neighbour we are processing is neither the node after the current node or the node before the current node in the path
// This is done for optimization, we have already checked those nodes earlier
if (!(containingIndex > 0 && node == nodes[containingIndex - 1]) && !(containingIndex < nodes.Count - 1 && node == nodes[containingIndex + 1]))
{
// Check if the neighbour was a mesh node
var triNode = node as TriangleMeshNode;
if (triNode != null)
{
// Find the distance to the closest point on it from our current position
var close = triNode.ClosestPointOnNode(posCopy);
float dist = (close - posCopy).sqrMagnitude;
// Is that distance better than the best distance seen so far
if (dist < closestDist)
{
closestDist = dist;
closestIsNeighbourOf = containingIndex;
closestNode = triNode;
closestIsInPath = false;
}
}
}
};
// Loop through all the nodes in the path in reverse order
// The callback needs to know about the index, so we store it
// in a local variable which it can read
for (; containingIndex >= 0; containingIndex--)
{
// Loop through all neighbours of the node
nodes[containingIndex].GetConnections(del);
}
// Check if the closest node
// was on the path already or if we need to adjust it
if (closestIsInPath)
{
// If we have found a node
// Snap to the closest point in XZ space (keep the Y coordinate)
// If we would have snapped to the closest point in 3D space, the agent
// might slow down when traversing slopes
currentNode = closestNodeInPath;
position = nodes[closestNodeInPath].ClosestPointOnNodeXZ(position);
}
else
{
// Snap to the closest point in XZ space on the node
position = closestNode.ClosestPointOnNodeXZ(position);
// We have found a node containing the position, but it is outside the funnel
// Recalculate the funnel to include this node
exactStart = position;
UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
// Restart from the first node in the updated path
currentNode = 0;
}
return(false);
}
public Vector3 Update(Vector3 position, List <Vector3> buffer, int numCorners, out bool lastCorner, out bool requiresRepath)
{
lastCorner = false;
requiresRepath = false;
Int3 p = (Int3)position;
if (this.nodes[this.currentNode].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
if (this.nodes[this.currentNode].ContainsPoint(p))
{
if (this.checkForDestroyedNodesCounter >= 10)
{
this.checkForDestroyedNodesCounter = 0;
int i = 0;
int count = this.nodes.Count;
while (i < count)
{
if (this.nodes[i].Destroyed)
{
requiresRepath = true;
break;
}
i++;
}
}
else
{
this.checkForDestroyedNodesCounter++;
}
}
else
{
bool flag = false;
int num = this.currentNode + 1;
int num2 = Math.Min(this.currentNode + 3, this.nodes.Count);
while (num < num2 && !flag)
{
if (this.nodes[num].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
if (this.nodes[num].ContainsPoint(p))
{
this.currentNode = num;
flag = true;
}
num++;
}
int num3 = this.currentNode - 1;
int num4 = Math.Max(this.currentNode - 3, 0);
while (num3 > num4 && !flag)
{
if (this.nodes[num3].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
if (this.nodes[num3].ContainsPoint(p))
{
this.currentNode = num3;
flag = true;
}
num3--;
}
if (!flag)
{
int index = 0;
int closestIsNeighbourOf = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
int containingIndex = this.nodes.Count - 1;
this.checkForDestroyedNodesCounter = 0;
int j = 0;
int count2 = this.nodes.Count;
while (j < count2)
{
if (this.nodes[j].Destroyed)
{
requiresRepath = true;
lastCorner = false;
buffer.Add(position);
return(position);
}
Vector3 a = this.nodes[j].ClosestPointOnNode(position);
float sqrMagnitude = (a - position).sqrMagnitude;
if (sqrMagnitude < closestDist)
{
closestDist = sqrMagnitude;
index = j;
closestNode = this.nodes[j];
closestIsInPath = true;
}
j++;
}
Vector3 posCopy = position;
GraphNodeDelegate del = delegate(GraphNode node)
{
if ((containingIndex <= 0 || node != this.nodes[containingIndex - 1]) && (containingIndex >= this.nodes.Count - 1 || node != this.nodes[containingIndex + 1]))
{
TriangleMeshNode triangleMeshNode = node as TriangleMeshNode;
if (triangleMeshNode != null)
{
Vector3 a2 = triangleMeshNode.ClosestPointOnNode(posCopy);
float sqrMagnitude2 = (a2 - posCopy).sqrMagnitude;
if (sqrMagnitude2 < closestDist)
{
closestDist = sqrMagnitude2;
closestIsNeighbourOf = containingIndex;
closestNode = triangleMeshNode;
closestIsInPath = false;
}
}
}
};
while (containingIndex >= 0)
{
this.nodes[containingIndex].GetConnections(del);
containingIndex--;
}
if (closestIsInPath)
{
this.currentNode = index;
position = this.nodes[index].ClosestPointOnNodeXZ(position);
}
else
{
position = closestNode.ClosestPointOnNodeXZ(position);
this.exactStart = position;
this.UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
this.currentNode = 0;
}
}
}
this.currentPosition = position;
if (!this.FindNextCorners(position, this.currentNode, buffer, numCorners, out lastCorner))
{
Debug.LogError("Oh oh");
buffer.Add(position);
return(position);
}
return(position);
}
// Token: 0x060021AA RID: 8618 RVA: 0x0018F7E4 File Offset: 0x0018D9E4
private bool ClampToNavmeshInternal(ref Vector3 position)
{
TriangleMeshNode triangleMeshNode = this.nodes[this.currentNode];
if (triangleMeshNode.Destroyed)
{
return(true);
}
if (triangleMeshNode.ContainsPoint(position))
{
return(false);
}
Queue <TriangleMeshNode> queue = RichFunnel.navmeshClampQueue;
List <TriangleMeshNode> list = RichFunnel.navmeshClampList;
Dictionary <TriangleMeshNode, TriangleMeshNode> dictionary = RichFunnel.navmeshClampDict;
triangleMeshNode.TemporaryFlag1 = true;
dictionary[triangleMeshNode] = null;
queue.Enqueue(triangleMeshNode);
list.Add(triangleMeshNode);
float num = float.PositiveInfinity;
Vector3 vector = position;
TriangleMeshNode triangleMeshNode2 = null;
while (queue.Count > 0)
{
TriangleMeshNode triangleMeshNode3 = queue.Dequeue();
Vector3 vector2 = triangleMeshNode3.ClosestPointOnNodeXZ(position);
float num2 = VectorMath.MagnitudeXZ(vector2 - position);
if (num2 <= num * 1.05f + 0.001f)
{
if (num2 < num)
{
num = num2;
vector = vector2;
triangleMeshNode2 = triangleMeshNode3;
}
for (int i = 0; i < triangleMeshNode3.connections.Length; i++)
{
TriangleMeshNode triangleMeshNode4 = triangleMeshNode3.connections[i].node as TriangleMeshNode;
if (triangleMeshNode4 != null && !triangleMeshNode4.TemporaryFlag1)
{
triangleMeshNode4.TemporaryFlag1 = true;
dictionary[triangleMeshNode4] = triangleMeshNode3;
queue.Enqueue(triangleMeshNode4);
list.Add(triangleMeshNode4);
}
}
}
}
for (int j = 0; j < list.Count; j++)
{
list[j].TemporaryFlag1 = false;
}
list.ClearFast <TriangleMeshNode>();
int num3 = this.nodes.IndexOf(triangleMeshNode2);
position.x = vector.x;
position.z = vector.z;
if (num3 == -1)
{
List <TriangleMeshNode> list2 = RichFunnel.navmeshClampList;
while (num3 == -1)
{
list2.Add(triangleMeshNode2);
triangleMeshNode2 = dictionary[triangleMeshNode2];
num3 = this.nodes.IndexOf(triangleMeshNode2);
}
this.exactStart = position;
this.UpdateFunnelCorridor(num3, list2);
list2.ClearFast <TriangleMeshNode>();
this.currentNode = 0;
}
else
{
this.currentNode = num3;
}
dictionary.Clear();
return(this.currentNode + 1 < this.nodes.Count && this.nodes[this.currentNode + 1].Destroyed);
}
private bool ClampToNavmeshInternal(ref Vector3 position)
{
if (this.nodes[this.currentNode].Destroyed)
{
return(true);
}
Int3 p = (Int3)position;
if (this.nodes[this.currentNode].ContainsPoint(p))
{
return(false);
}
int i = this.currentNode + 1;
int num = Math.Min(this.currentNode + 3, this.nodes.Count);
while (i < num)
{
if (this.nodes[i].Destroyed)
{
return(true);
}
if (this.nodes[i].ContainsPoint(p))
{
this.currentNode = i;
return(false);
}
i++;
}
int j = this.currentNode - 1;
int num2 = Math.Max(this.currentNode - 3, 0);
while (j > num2)
{
if (this.nodes[j].Destroyed)
{
return(true);
}
if (this.nodes[j].ContainsPoint(p))
{
this.currentNode = j;
return(false);
}
j--;
}
int index = 0;
int closestIsNeighbourOf = 0;
float closestDist = float.PositiveInfinity;
bool closestIsInPath = false;
TriangleMeshNode closestNode = null;
int containingIndex = this.nodes.Count - 1;
this.checkForDestroyedNodesCounter = 0;
int k = 0;
int count = this.nodes.Count;
while (k < count)
{
if (this.nodes[k].Destroyed)
{
return(true);
}
Vector3 a = this.nodes[k].ClosestPointOnNode(position);
float sqrMagnitude = (a - position).sqrMagnitude;
if (sqrMagnitude < closestDist)
{
closestDist = sqrMagnitude;
index = k;
closestNode = this.nodes[k];
closestIsInPath = true;
}
k++;
}
Vector3 posCopy = position;
GraphNodeDelegate del = delegate(GraphNode node)
{
if ((containingIndex <= 0 || node != this.nodes[containingIndex - 1]) && (containingIndex >= this.nodes.Count - 1 || node != this.nodes[containingIndex + 1]))
{
TriangleMeshNode triangleMeshNode = node as TriangleMeshNode;
if (triangleMeshNode != null)
{
Vector3 a2 = triangleMeshNode.ClosestPointOnNode(posCopy);
float sqrMagnitude2 = (a2 - posCopy).sqrMagnitude;
if (sqrMagnitude2 < closestDist)
{
closestDist = sqrMagnitude2;
closestIsNeighbourOf = containingIndex;
closestNode = triangleMeshNode;
closestIsInPath = false;
}
}
}
};
while (containingIndex >= 0)
{
this.nodes[containingIndex].GetConnections(del);
containingIndex--;
}
if (closestIsInPath)
{
this.currentNode = index;
position = this.nodes[index].ClosestPointOnNodeXZ(position);
}
else
{
position = closestNode.ClosestPointOnNodeXZ(position);
this.exactStart = position;
this.UpdateFunnelCorridor(closestIsNeighbourOf, closestNode);
this.currentNode = 0;
}
return(false);
}
private void FindWalls(int nodeIndex, List <Vector3> wallBuffer, Vector3 position, float range)
{
if (range > 0f)
{
bool flag = false;
bool flag2 = false;
range *= range;
position.y = 0f;
for (int i = 0; !flag || !flag2; i = (i >= 0) ? (-i - 1) : -i)
{
if (((i >= 0) || !flag) && ((i <= 0) || !flag2))
{
if ((i < 0) && ((nodeIndex + i) < 0))
{
flag = true;
}
else if ((i > 0) && ((nodeIndex + i) >= this.nodes.Count))
{
flag2 = true;
}
else
{
TriangleMeshNode node = (((nodeIndex + i) - 1) >= 0) ? this.nodes[(nodeIndex + i) - 1] : null;
TriangleMeshNode node2 = this.nodes[nodeIndex + i];
TriangleMeshNode node3 = (((nodeIndex + i) + 1) < this.nodes.Count) ? this.nodes[(nodeIndex + i) + 1] : null;
if (node2.Destroyed)
{
break;
}
Vector3 vector = node2.ClosestPointOnNodeXZ(position) - position;
if (vector.sqrMagnitude > range)
{
if (i < 0)
{
flag = true;
}
else
{
flag2 = true;
}
}
else
{
for (int j = 0; j < 3; j++)
{
this.triBuffer[j] = 0;
}
for (int k = 0; k < node2.connections.Length; k++)
{
TriangleMeshNode node4 = node2.connections[k] as TriangleMeshNode;
if (node4 != null)
{
int index = -1;
for (int n = 0; n < 3; n++)
{
for (int num6 = 0; num6 < 3; num6++)
{
if ((node2.GetVertex(n) == node4.GetVertex((num6 + 1) % 3)) && (node2.GetVertex((n + 1) % 3) == node4.GetVertex(num6)))
{
index = n;
n = 3;
break;
}
}
}
if (index != -1)
{
this.triBuffer[index] = ((node4 != node) && (node4 != node3)) ? 1 : 2;
}
}
}
for (int m = 0; m < 3; m++)
{
if (this.triBuffer[m] == 0)
{
wallBuffer.Add((Vector3)node2.GetVertex(m));
wallBuffer.Add((Vector3)node2.GetVertex((m + 1) % 3));
}
}
}
}
}
}
}
}
