public SteerForSphericalObstacleAvoidance.PathIntersection FindNextIntersectionWithSphere(SphericalObstacle obs, Vector3 line)
{
Vector3 vector = base.Vehicle.Position - obs.center;
SteerForSphericalObstacleAvoidance.PathIntersection result = new SteerForSphericalObstacleAvoidance.PathIntersection(obs);
obs.annotatePosition();
Debug.DrawLine(base.Vehicle.Position, base.Vehicle.Position + line, Color.get_cyan());
float sqrMagnitude = line.get_sqrMagnitude();
float num = 2f * Vector3.Dot(line, vector);
float num2 = obs.center.get_sqrMagnitude();
num2 += base.Vehicle.Position.get_sqrMagnitude();
num2 -= 2f * Vector3.Dot(obs.center, base.Vehicle.Position);
num2 -= Mathf.Pow(obs.radius + base.Vehicle.ScaledRadius, 2f);
float num3 = num * num - 4f * sqrMagnitude * num2;
if (num3 >= 0f)
{
result.intersect = true;
Vector3 vector2 = Vector3.get_zero();
if (num3 == 0f)
{
float num4 = -num / (2f * sqrMagnitude);
vector2 = num4 * line;
}
else
{
float num5 = (-num + Mathf.Sqrt(num3)) / (2f * sqrMagnitude);
float num6 = (-num - Mathf.Sqrt(num3)) / (2f * sqrMagnitude);
if (num5 < 0f && num6 < 0f)
{
result.intersect = false;
}
else
{
vector2 = ((Mathf.Abs(num5) >= Mathf.Abs(num6)) ? (num6 * line) : (num5 * line));
}
}
Debug.DrawRay(base.Vehicle.Position, vector2, Color.get_red());
result.distance = vector2.get_magnitude();
}
return(result);
}
protected override Vector3 CalculateForce()
{
Vector3 vector = Vector3.get_zero();
if (base.Vehicle.Radar.Obstacles == null || base.Vehicle.Radar.Obstacles.Count == 0)
{
return(vector);
}
SteerForSphericalObstacleAvoidance.PathIntersection pathIntersection = new SteerForSphericalObstacleAvoidance.PathIntersection(null);
Vector3 vector2 = base.Vehicle.PredictFuturePosition(this._minTimeToCollision);
Vector3 line = vector2 - base.Vehicle.Position;
using (IEnumerator <Obstacle> enumerator = base.Vehicle.Radar.Obstacles.GetEnumerator())
{
while (enumerator.MoveNext())
{
Obstacle current = enumerator.get_Current();
SphericalObstacle obs = current as SphericalObstacle;
SteerForSphericalObstacleAvoidance.PathIntersection pathIntersection2 = this.FindNextIntersectionWithSphere(obs, line);
if (!pathIntersection.intersect || (pathIntersection2.intersect && pathIntersection2.distance < pathIntersection.distance))
{
pathIntersection = pathIntersection2;
}
}
}
if (pathIntersection.intersect && pathIntersection.distance < line.get_magnitude())
{
Debug.DrawLine(base.Vehicle.Position, pathIntersection.obstacle.center, Color.get_red());
Vector3 source = base.Vehicle.Position - pathIntersection.obstacle.center;
vector = OpenSteerUtility.perpendicularComponent(source, base.get_transform().get_forward());
vector.Normalize();
vector *= base.Vehicle.MaxForce;
vector += base.get_transform().get_forward() * base.Vehicle.MaxForce * this._avoidanceForceFactor;
}
return(vector);
}
