internal PolygonShape(ShapeDef def) : base(def) { Box2DXDebug.Assert(def.Type == ShapeType.PolygonShape); this._type = ShapeType.PolygonShape; PolygonDef polygonDef = (PolygonDef)def; this._vertexCount = polygonDef.VertexCount; Box2DXDebug.Assert(3 <= this._vertexCount && this._vertexCount <= Settings.MaxPolygonVertices); for (int i = 0; i < this._vertexCount; i++) { this._vertices[i] = polygonDef.Vertices[i]; } for (int i = 0; i < this._vertexCount; i++) { int num = i; int num2 = (i + 1 < this._vertexCount) ? (i + 1) : 0; Vec2 a = this._vertices[num2] - this._vertices[num]; Box2DXDebug.Assert(a.LengthSquared() > Settings.FLT_EPSILON * Settings.FLT_EPSILON); this._normals[i] = Vec2.Cross(a, 1f); this._normals[i].Normalize(); } for (int i = 0; i < this._vertexCount; i++) { for (int j = 0; j < this._vertexCount; j++) { if (j != i && j != (i + 1) % this._vertexCount) { float num3 = Vec2.Dot(this._normals[i], this._vertices[j] - this._vertices[i]); Box2DXDebug.Assert(num3 < -Settings.LinearSlop); } } } for (int i = 1; i < this._vertexCount; i++) { float num4 = Vec2.Cross(this._normals[i - 1], this._normals[i]); num4 = Box2DX.Common.Math.Clamp(num4, -1f, 1f); float num5 = (float)System.Math.Asin((double)num4); Box2DXDebug.Assert(num5 > Settings.AngularSlop); } this._centroid = PolygonShape.ComputeCentroid(polygonDef.Vertices, polygonDef.VertexCount); PolygonShape.ComputeOBB(out this._obb, this._vertices, this._vertexCount); for (int i = 0; i < this._vertexCount; i++) { int num = (i - 1 >= 0) ? (i - 1) : (this._vertexCount - 1); int num2 = i; Vec2 a2 = this._normals[num]; Vec2 a3 = this._normals[num2]; Vec2 b = this._vertices[i] - this._centroid; Vec2 b2 = default(Vec2); b2.X = Vec2.Dot(a2, b) - Settings.ToiSlop; b2.Y = Vec2.Dot(a3, b) - Settings.ToiSlop; Box2DXDebug.Assert(b2.X >= 0f); Box2DXDebug.Assert(b2.Y >= 0f); Mat22 mat = default(Mat22); mat.Col1.X = a2.X; mat.Col2.X = a2.Y; mat.Col1.Y = a3.X; mat.Col2.Y = a3.Y; this._coreVertices[i] = mat.Solve(b2) + this._centroid; } }