internal static Vector3ex.Information GetInformation(IList <Vector3> points, float epsilon)
{
if (points == null)
{
return(null);
}
int count = points.Count;
if (count == 0 || epsilon < 0f)
{
return(null);
}
Vector3ex.Information information = new Vector3ex.Information();
information.ExtremeCCW = false;
float num2;
float num = num2 = points[0].x;
int num3 = 0;
int num4 = 0;
float num6;
float num5 = num6 = points[0].y;
int num7 = 0;
int num8 = 0;
float num10;
float num9 = num10 = points[0].z;
int num11 = 0;
int num12 = 0;
for (int i = 1; i < count; i++)
{
float num13 = points[i].x;
if (num13 < num2)
{
num2 = num13;
num3 = i;
}
else if (num13 > num)
{
num = num13;
num4 = i;
}
num13 = points[i].y;
if (num13 < num6)
{
num6 = num13;
num7 = i;
}
else if (num13 > num5)
{
num5 = num13;
num8 = i;
}
num13 = points[i].z;
if (num13 < num10)
{
num10 = num13;
num11 = i;
}
else if (num13 > num9)
{
num9 = num13;
num12 = i;
}
}
information.Min.x = num2;
information.Min.y = num6;
information.Min.z = num10;
information.Max.x = num;
information.Max.y = num5;
information.Max.z = num9;
information.MaxRange = num - num2;
information.Extreme[0] = num3;
information.Extreme[1] = num4;
float num14 = num5 - num6;
if (num14 > information.MaxRange)
{
information.MaxRange = num14;
information.Extreme[0] = num7;
information.Extreme[1] = num8;
}
num14 = num9 - num10;
if (num14 > information.MaxRange)
{
information.MaxRange = num14;
information.Extreme[0] = num11;
information.Extreme[1] = num12;
}
information.Origin = points[information.Extreme[0]];
if (information.MaxRange < epsilon)
{
information.Dimension = 0;
information.Extreme[1] = information.Extreme[0];
information.Extreme[2] = information.Extreme[0];
information.Extreme[3] = information.Extreme[0];
information.Direction[0] = Vector3ex.Zero;
information.Direction[1] = Vector3ex.Zero;
information.Direction[2] = Vector3ex.Zero;
return(information);
}
information.Direction[0] = points[information.Extreme[1]] - information.Origin;
information.Direction[0].Normalize();
float num15 = 0f;
information.Extreme[2] = information.Extreme[0];
float d;
for (int j = 0; j < count; j++)
{
Vector3 vector = points[j] - information.Origin;
d = information.Direction[0].Dot(vector);
float num16 = (vector - d * information.Direction[0]).magnitude;
if (num16 > num15)
{
num15 = num16;
information.Extreme[2] = j;
}
}
if (num15 < epsilon * information.MaxRange)
{
information.Dimension = 1;
information.Extreme[2] = information.Extreme[1];
information.Extreme[3] = information.Extreme[1];
return(information);
}
information.Direction[1] = points[information.Extreme[2]] - information.Origin;
d = information.Direction[0].Dot(information.Direction[1]);
information.Direction[1] -= d * information.Direction[0];
information.Direction[1].Normalize();
information.Direction[2] = information.Direction[0].Cross(information.Direction[1]);
num15 = 0f;
float num17 = 0f;
information.Extreme[3] = information.Extreme[0];
for (int k = 0; k < count; k++)
{
Vector3 value = points[k] - information.Origin;
float num16 = information.Direction[2].Dot(value);
float num18 = Mathf.Sign(num16);
num16 = Mathf.Abs(num16);
if (num16 > num15)
{
num15 = num16;
num17 = num18;
information.Extreme[3] = k;
}
}
if (num15 < epsilon * information.MaxRange)
{
information.Dimension = 2;
information.Extreme[3] = information.Extreme[2];
return(information);
}
information.Dimension = 3;
information.ExtremeCCW = (num17 > 0f);
return(information);
}
public static bool Create(IList <Vector3> vertices, float epsilon, out int dimension, out int[] indices)
{
Vector3ex.Information information = Vector3ex.GetInformation(vertices, epsilon);
if (information == null)
{
dimension = -1;
indices = null;
return(false);
}
int count = vertices.Count;
if (information.Dimension == 0)
{
dimension = 0;
int[] array = new int[1];
indices = array;
return(true);
}
if (information.Dimension == 1)
{
float[] array2 = new float[count];
Vector3 origin = information.Origin;
Vector3 vector = information.Direction[0];
for (int i = 0; i < count; i++)
{
Vector3 value = vertices[i] - origin;
array2[i] = vector.Dot(value);
}
ConvexHull1.Create(array2, epsilon, out dimension, out indices);
return(true);
}
if (information.Dimension == 2)
{
Vector2[] array3 = new Vector2[count];
Vector3 origin2 = information.Origin;
Vector3 vector2 = information.Direction[0];
Vector3 vector3 = information.Direction[1];
for (int j = 0; j < count; j++)
{
Vector3 value2 = vertices[j] - origin2;
array3[j] = new Vector2(vector2.Dot(value2), vector3.Dot(value2));
}
return(ConvexHull2.Create(array3, epsilon, out dimension, out indices));
}
dimension = 3;
Vector3[] array4 = new Vector3[count];
Vector3 min = information.Min;
float d = 1f / information.MaxRange;
for (int k = 0; k < count; k++)
{
array4[k] = (vertices[k] - min) * d;
}
Query3 query = new Query3(array4);
int v = information.Extreme[0];
int num = information.Extreme[1];
int num2 = information.Extreme[2];
int num3 = information.Extreme[3];
ConvexHull3.Triangle triangle;
ConvexHull3.Triangle triangle2;
ConvexHull3.Triangle triangle3;
ConvexHull3.Triangle triangle4;
if (information.ExtremeCCW)
{
triangle = new ConvexHull3.Triangle(v, num, num3);
triangle2 = new ConvexHull3.Triangle(v, num2, num);
triangle3 = new ConvexHull3.Triangle(v, num3, num2);
triangle4 = new ConvexHull3.Triangle(num, num2, num3);
triangle.AttachTo(triangle2, triangle4, triangle3);
triangle2.AttachTo(triangle3, triangle4, triangle);
triangle3.AttachTo(triangle, triangle4, triangle2);
triangle4.AttachTo(triangle2, triangle3, triangle);
}
else
{
triangle = new ConvexHull3.Triangle(v, num3, num);
triangle2 = new ConvexHull3.Triangle(v, num, num2);
triangle3 = new ConvexHull3.Triangle(v, num2, num3);
triangle4 = new ConvexHull3.Triangle(num, num3, num2);
triangle.AttachTo(triangle3, triangle4, triangle2);
triangle2.AttachTo(triangle, triangle4, triangle3);
triangle3.AttachTo(triangle2, triangle4, triangle);
triangle4.AttachTo(triangle, triangle3, triangle2);
}
HashSet <ConvexHull3.Triangle> hashSet = new HashSet <ConvexHull3.Triangle>();
hashSet.Add(triangle);
hashSet.Add(triangle2);
hashSet.Add(triangle3);
hashSet.Add(triangle4);
for (int l = 0; l < count; l++)
{
if (!ConvexHull3.Update(hashSet, l, query))
{
dimension = -1;
indices = null;
return(false);
}
}
ConvexHull3.ExtractIndices(hashSet, out indices);
return(true);
}
