private void SolveTOI(ref TimeStep step)
{
this.Island.Reset(64, 32, 0, this.ContactManager);
bool stepComplete = this._stepComplete;
if (stepComplete)
{
for (int i = 0; i < this.BodyList.Count; i++)
{
this.BodyList[i]._island = false;
this.BodyList[i]._sweep.Alpha0 = 0f;
}
for (int j = 0; j < this.ContactManager.ContactList.Count; j++)
{
Contact contact = this.ContactManager.ContactList[j];
contact.IslandFlag = false;
contact.TOIFlag = false;
contact._toiCount = 0;
contact._toi = 1f;
}
}
while (true)
{
Contact contact2 = null;
FP fP = 1f;
for (int k = 0; k < this.ContactManager.ContactList.Count; k++)
{
Contact contact3 = this.ContactManager.ContactList[k];
bool flag = !contact3.Enabled;
if (!flag)
{
bool flag2 = contact3._toiCount > 8;
if (!flag2)
{
bool tOIFlag = contact3.TOIFlag;
FP fP2;
if (tOIFlag)
{
fP2 = contact3._toi;
}
else
{
Fixture fixtureA = contact3.FixtureA;
Fixture fixtureB = contact3.FixtureB;
bool flag3 = fixtureA.IsSensor || fixtureB.IsSensor;
if (flag3)
{
goto IL_424;
}
Body body = fixtureA.Body;
Body body2 = fixtureB.Body;
BodyType bodyType = body.BodyType;
BodyType bodyType2 = body2.BodyType;
Debug.Assert(bodyType == BodyType.Dynamic || bodyType2 == BodyType.Dynamic);
bool flag4 = body.Awake && bodyType > BodyType.Static;
bool flag5 = body2.Awake && bodyType2 > BodyType.Static;
bool flag6 = !flag4 && !flag5;
if (flag6)
{
goto IL_424;
}
bool flag7 = (body.IsBullet || bodyType != BodyType.Dynamic) && (fixtureA.IgnoreCCDWith & fixtureB.CollisionCategories) == Category.None && !body.IgnoreCCD;
bool flag8 = (body2.IsBullet || bodyType2 != BodyType.Dynamic) && (fixtureB.IgnoreCCDWith & fixtureA.CollisionCategories) == Category.None && !body2.IgnoreCCD;
bool flag9 = !flag7 && !flag8;
if (flag9)
{
goto IL_424;
}
FP alpha = body._sweep.Alpha0;
bool flag10 = body._sweep.Alpha0 < body2._sweep.Alpha0;
if (flag10)
{
alpha = body2._sweep.Alpha0;
body._sweep.Advance(alpha);
}
else
{
bool flag11 = body2._sweep.Alpha0 < body._sweep.Alpha0;
if (flag11)
{
alpha = body._sweep.Alpha0;
body2._sweep.Advance(alpha);
}
}
Debug.Assert(alpha < 1f);
this._input.ProxyA.Set(fixtureA.Shape, contact3.ChildIndexA);
this._input.ProxyB.Set(fixtureB.Shape, contact3.ChildIndexB);
this._input.SweepA = body._sweep;
this._input.SweepB = body2._sweep;
this._input.TMax = 1f;
TOIOutput tOIOutput;
TimeOfImpact.CalculateTimeOfImpact(out tOIOutput, this._input);
FP t = tOIOutput.T;
bool flag12 = tOIOutput.State == TOIOutputState.Touching;
if (flag12)
{
fP2 = TSMath.Min(alpha + (1f - alpha) * t, 1f);
}
else
{
fP2 = 1f;
}
contact3._toi = fP2;
contact3.TOIFlag = true;
}
bool flag13 = fP2 < fP;
if (flag13)
{
contact2 = contact3;
fP = fP2;
}
}
}
IL_424 :;
}
bool flag14 = contact2 == null || 1f - 10f * Settings.Epsilon < fP;
if (flag14)
{
break;
}
Fixture fixtureA2 = contact2.FixtureA;
Fixture fixtureB2 = contact2.FixtureB;
Body body3 = fixtureA2.Body;
Body body4 = fixtureB2.Body;
Sweep sweep = body3._sweep;
Sweep sweep2 = body4._sweep;
body3.Advance(fP);
body4.Advance(fP);
contact2.Update(this.ContactManager);
contact2.TOIFlag = false;
contact2._toiCount++;
bool flag15 = !contact2.Enabled || !contact2.IsTouching;
if (flag15)
{
contact2.Enabled = false;
body3._sweep = sweep;
body4._sweep = sweep2;
body3.SynchronizeTransform();
body4.SynchronizeTransform();
}
else
{
body3.Awake = true;
body4.Awake = true;
this.Island.Clear();
this.Island.Add(body3);
this.Island.Add(body4);
this.Island.Add(contact2);
body3._island = true;
body4._island = true;
contact2.IslandFlag = true;
Body[] array = new Body[]
{
body3,
body4
};
for (int l = 0; l < 2; l++)
{
Body body5 = array[l];
bool flag16 = body5.BodyType == BodyType.Dynamic;
if (flag16)
{
for (ContactEdge contactEdge = body5.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
Contact contact4 = contactEdge.Contact;
bool flag17 = this.Island.BodyCount == this.Island.BodyCapacity;
if (flag17)
{
break;
}
bool flag18 = this.Island.ContactCount == this.Island.ContactCapacity;
if (flag18)
{
break;
}
bool islandFlag = contact4.IslandFlag;
if (!islandFlag)
{
Body other = contactEdge.Other;
bool flag19 = other.BodyType == BodyType.Dynamic && !body5.IsBullet && !other.IsBullet;
if (!flag19)
{
bool flag20 = contact4.FixtureA.IsSensor || contact4.FixtureB.IsSensor;
if (!flag20)
{
Sweep sweep3 = other._sweep;
bool flag21 = !other._island;
if (flag21)
{
other.Advance(fP);
}
contact4.Update(this.ContactManager);
bool flag22 = !contact4.Enabled;
if (flag22)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
bool flag23 = !contact4.IsTouching;
if (flag23)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
contact4.IslandFlag = true;
this.Island.Add(contact4);
bool island = other._island;
if (!island)
{
other._island = true;
bool flag24 = other.BodyType > BodyType.Static;
if (flag24)
{
other.Awake = true;
}
this.Island.Add(other);
}
}
}
}
}
}
}
}
}
TimeStep timeStep;
timeStep.dt = (1f - fP) * step.dt;
timeStep.inv_dt = 1f / timeStep.dt;
timeStep.dtRatio = 1f;
this.Island.SolveTOI(ref timeStep, body3.IslandIndex, body4.IslandIndex, false);
for (int m = 0; m < this.Island.BodyCount; m++)
{
Body body6 = this.Island.Bodies[m];
body6._island = false;
bool flag25 = body6.BodyType != BodyType.Dynamic;
if (!flag25)
{
body6.SynchronizeFixtures();
for (ContactEdge contactEdge2 = body6.ContactList; contactEdge2 != null; contactEdge2 = contactEdge2.Next)
{
contactEdge2.Contact.TOIFlag = false;
contactEdge2.Contact.IslandFlag = false;
}
}
}
this.ContactManager.FindNewContacts();
}
}
this._stepComplete = true;
}
