public bool ClosestPtPointTetrahedron(TSVector p, TSVector a, TSVector b, TSVector c, TSVector d, ref SubSimplexClosestResult finalResult)
{
this.tempResult.Reset();
finalResult.ClosestPointOnSimplex = p;
finalResult.UsedVertices.Reset();
finalResult.UsedVertices.UsedVertexA = true;
finalResult.UsedVertices.UsedVertexB = true;
finalResult.UsedVertices.UsedVertexC = true;
finalResult.UsedVertices.UsedVertexD = true;
int num = this.PointOutsideOfPlane(p, a, b, c, d);
int num2 = this.PointOutsideOfPlane(p, a, c, d, b);
int num3 = this.PointOutsideOfPlane(p, a, d, b, c);
int num4 = this.PointOutsideOfPlane(p, b, d, c, a);
bool flag = num < 0 || num2 < 0 || num3 < 0 || num4 < 0;
bool result;
if (flag)
{
finalResult.Degenerate = true;
result = false;
}
else
{
bool flag2 = num == 0 && num2 == 0 && num3 == 0 && num4 == 0;
if (flag2)
{
result = false;
}
else
{
FP y = FP.MaxValue;
bool flag3 = num != 0;
if (flag3)
{
this.ClosestPtPointTriangle(p, a, b, c, ref this.tempResult);
TSVector closestPointOnSimplex = this.tempResult.ClosestPointOnSimplex;
FP sqrMagnitude = (closestPointOnSimplex - p).sqrMagnitude;
bool flag4 = sqrMagnitude < y;
if (flag4)
{
y = sqrMagnitude;
finalResult.ClosestPointOnSimplex = closestPointOnSimplex;
finalResult.UsedVertices.Reset();
finalResult.UsedVertices.UsedVertexA = this.tempResult.UsedVertices.UsedVertexA;
finalResult.UsedVertices.UsedVertexB = this.tempResult.UsedVertices.UsedVertexB;
finalResult.UsedVertices.UsedVertexC = this.tempResult.UsedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(this.tempResult.BarycentricCoords[0], this.tempResult.BarycentricCoords[1], this.tempResult.BarycentricCoords[2], 0);
}
}
bool flag5 = num2 != 0;
if (flag5)
{
this.ClosestPtPointTriangle(p, a, c, d, ref this.tempResult);
TSVector closestPointOnSimplex2 = this.tempResult.ClosestPointOnSimplex;
FP sqrMagnitude2 = (closestPointOnSimplex2 - p).sqrMagnitude;
bool flag6 = sqrMagnitude2 < y;
if (flag6)
{
y = sqrMagnitude2;
finalResult.ClosestPointOnSimplex = closestPointOnSimplex2;
finalResult.UsedVertices.Reset();
finalResult.UsedVertices.UsedVertexA = this.tempResult.UsedVertices.UsedVertexA;
finalResult.UsedVertices.UsedVertexC = this.tempResult.UsedVertices.UsedVertexB;
finalResult.UsedVertices.UsedVertexD = this.tempResult.UsedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(this.tempResult.BarycentricCoords[0], 0, this.tempResult.BarycentricCoords[1], this.tempResult.BarycentricCoords[2]);
}
}
bool flag7 = num3 != 0;
if (flag7)
{
this.ClosestPtPointTriangle(p, a, d, b, ref this.tempResult);
TSVector closestPointOnSimplex3 = this.tempResult.ClosestPointOnSimplex;
FP sqrMagnitude3 = (closestPointOnSimplex3 - p).sqrMagnitude;
bool flag8 = sqrMagnitude3 < y;
if (flag8)
{
y = sqrMagnitude3;
finalResult.ClosestPointOnSimplex = closestPointOnSimplex3;
finalResult.UsedVertices.Reset();
finalResult.UsedVertices.UsedVertexA = this.tempResult.UsedVertices.UsedVertexA;
finalResult.UsedVertices.UsedVertexD = this.tempResult.UsedVertices.UsedVertexB;
finalResult.UsedVertices.UsedVertexB = this.tempResult.UsedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(this.tempResult.BarycentricCoords[0], this.tempResult.BarycentricCoords[2], 0, this.tempResult.BarycentricCoords[1]);
}
}
bool flag9 = num4 != 0;
if (flag9)
{
this.ClosestPtPointTriangle(p, b, d, c, ref this.tempResult);
TSVector closestPointOnSimplex4 = this.tempResult.ClosestPointOnSimplex;
FP sqrMagnitude4 = (closestPointOnSimplex4 - p).sqrMagnitude;
bool flag10 = sqrMagnitude4 < y;
if (flag10)
{
finalResult.ClosestPointOnSimplex = closestPointOnSimplex4;
finalResult.UsedVertices.Reset();
finalResult.UsedVertices.UsedVertexB = this.tempResult.UsedVertices.UsedVertexA;
finalResult.UsedVertices.UsedVertexD = this.tempResult.UsedVertices.UsedVertexB;
finalResult.UsedVertices.UsedVertexC = this.tempResult.UsedVertices.UsedVertexC;
finalResult.SetBarycentricCoordinates(0, this.tempResult.BarycentricCoords[0], this.tempResult.BarycentricCoords[2], this.tempResult.BarycentricCoords[1]);
}
}
bool flag11 = finalResult.UsedVertices.UsedVertexA && finalResult.UsedVertices.UsedVertexB && finalResult.UsedVertices.UsedVertexC && finalResult.UsedVertices.UsedVertexD;
result = (!flag11 || true);
}
}
return(result);
}
public bool ClosestPtPointTriangle(TSVector p, TSVector a, TSVector b, TSVector c, ref SubSimplexClosestResult result)
{
result.UsedVertices.Reset();
TSVector tSVector = b - a;
TSVector tSVector2 = c - a;
TSVector vector = p - a;
FP x = TSVector.Dot(tSVector, vector);
FP fP = TSVector.Dot(tSVector2, vector);
bool flag = x <= FP.Zero && fP <= FP.Zero;
bool result2;
if (flag)
{
result.ClosestPointOnSimplex = a;
result.UsedVertices.UsedVertexA = true;
result.SetBarycentricCoordinates(1, 0, 0, 0);
result2 = true;
}
else
{
TSVector vector2 = p - b;
FP fP2 = TSVector.Dot(tSVector, vector2);
FP fP3 = TSVector.Dot(tSVector2, vector2);
bool flag2 = fP2 >= FP.Zero && fP3 <= fP2;
if (flag2)
{
result.ClosestPointOnSimplex = b;
result.UsedVertices.UsedVertexB = true;
result.SetBarycentricCoordinates(0, 1, 0, 0);
result2 = true;
}
else
{
FP fP4 = x * fP3 - fP2 * fP;
bool flag3 = fP4 <= FP.Zero && x >= FP.Zero && fP2 <= FP.Zero;
if (flag3)
{
FP fP5 = x / (x - fP2);
result.ClosestPointOnSimplex = a + fP5 * tSVector;
result.UsedVertices.UsedVertexA = true;
result.UsedVertices.UsedVertexB = true;
result.SetBarycentricCoordinates(1 - fP5, fP5, 0, 0);
result2 = true;
}
else
{
TSVector vector3 = p - c;
FP x2 = TSVector.Dot(tSVector, vector3);
FP fP6 = TSVector.Dot(tSVector2, vector3);
bool flag4 = fP6 >= FP.Zero && x2 <= fP6;
if (flag4)
{
result.ClosestPointOnSimplex = c;
result.UsedVertices.UsedVertexC = true;
result.SetBarycentricCoordinates(0, 0, 1, 0);
result2 = true;
}
else
{
FP fP7 = x2 * fP - x * fP6;
bool flag5 = fP7 <= FP.Zero && fP >= FP.Zero && fP6 <= FP.Zero;
if (flag5)
{
FP fP8 = fP / (fP - fP6);
result.ClosestPointOnSimplex = a + fP8 * tSVector2;
result.UsedVertices.UsedVertexA = true;
result.UsedVertices.UsedVertexC = true;
result.SetBarycentricCoordinates(1 - fP8, 0, fP8, 0);
result2 = true;
}
else
{
FP x3 = fP2 * fP6 - x2 * fP3;
bool flag6 = x3 <= FP.Zero && fP3 - fP2 >= FP.Zero && x2 - fP6 >= FP.Zero;
if (flag6)
{
FP fP8 = (fP3 - fP2) / (fP3 - fP2 + (x2 - fP6));
result.ClosestPointOnSimplex = b + fP8 * (c - b);
result.UsedVertices.UsedVertexB = true;
result.UsedVertices.UsedVertexC = true;
result.SetBarycentricCoordinates(0, 1 - fP8, fP8, 0);
result2 = true;
}
else
{
FP y = FP.One / (x3 + fP7 + fP4);
FP fP5 = fP7 * y;
FP fP8 = fP4 * y;
result.ClosestPointOnSimplex = a + tSVector * fP5 + tSVector2 * fP8;
result.UsedVertices.UsedVertexA = true;
result.UsedVertices.UsedVertexB = true;
result.UsedVertices.UsedVertexC = true;
result.SetBarycentricCoordinates(1 - fP5 - fP8, fP5, fP8, 0);
result2 = true;
}
}
}
}
}
}
return(result2);
}