private bool linearProgram1(IList <Line> lines, int lineNo, float radius, Vector2 optVelocity, bool directionOpt, ref Vector2 result)
{
float dotProduct = lines[lineNo].point * lines[lineNo].direction;
float discriminant = RVOMath.sqr(dotProduct) + RVOMath.sqr(radius) - RVOMath.absSq(lines[lineNo].point);
if (discriminant < 0.0f)
{
/* Max speed circle fully invalidates line lineNo. */
return(false);
}
float sqrtDiscriminant = RVOMath.sqrt(discriminant);
float tLeft = -dotProduct - sqrtDiscriminant;
float tRight = -dotProduct + sqrtDiscriminant;
for (int i = 0; i < lineNo; ++i)
{
float denominator = RVOMath.det(lines[lineNo].direction, lines[i].direction);
float numerator = RVOMath.det(lines[i].direction, lines[lineNo].point - lines[i].point);
if (RVOMath.fabs(denominator) <= RVOMath.RVO_EPSILON)
{
/* Lines lineNo and i are (almost) parallel. */
if (numerator < 0.0f)
{
return(false);
}
continue;
}
float t = numerator / denominator;
if (denominator >= 0.0f)
{
/* Line i bounds line lineNo on the right. */
tRight = Math.Min(tRight, t);
}
else
{
/* Line i bounds line lineNo on the left. */
tLeft = Math.Max(tLeft, t);
}
if (tLeft > tRight)
{
return(false);
}
}
if (directionOpt)
{
/* Optimize direction. */
if (optVelocity * lines[lineNo].direction > 0.0f)
{
/* Take right extreme. */
result = lines[lineNo].point + tRight * lines[lineNo].direction;
}
else
{
/* Take left extreme. */
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
}
}
else
{
/* Optimize closest point. */
float t = lines[lineNo].direction * (optVelocity - lines[lineNo].point);
//Debug.Log(tLeft.ToString() + " " + t.ToString() + " " + tRight.ToString());
if (t < tLeft)
{
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
}
else if (t > tRight)
{
result = lines[lineNo].point + tRight * lines[lineNo].direction;
}
else
{
result = lines[lineNo].point + t * lines[lineNo].direction;
}
}
return(true);
}
