public static TSBBox CreateMerged(TSBBox original, TSBBox additional)
{
TSBBox result;
TSBBox.CreateMerged(ref original, ref additional, out result);
return(result);
}
protected void UpdateInternalBoundingBox()
{
this.mInternalBBox.min = new TSVector(FP.MaxValue);
this.mInternalBBox.max = new TSVector(FP.MinValue);
for (int i = 0; i < this.shapes.Length; i++)
{
this.shapes[i].UpdateBoundingBox();
TSBBox.CreateMerged(ref this.mInternalBBox, ref this.shapes[i].boundingBox, out this.mInternalBBox);
}
}
private void RemoveLeaf(int leaf)
{
bool flag = leaf == this._root;
if (flag)
{
this._root = -1;
}
else
{
int num = this._nodes[leaf].ParentOrNext;
int parentOrNext = this._nodes[num].ParentOrNext;
bool flag2 = this._nodes[num].Child1 == leaf;
int num2;
if (flag2)
{
num2 = this._nodes[num].Child2;
}
else
{
num2 = this._nodes[num].Child1;
}
bool flag3 = parentOrNext != -1;
if (flag3)
{
bool flag4 = this._nodes[parentOrNext].Child1 == num;
if (flag4)
{
this._nodes[parentOrNext].Child1 = num2;
}
else
{
this._nodes[parentOrNext].Child2 = num2;
}
this._nodes[num2].ParentOrNext = parentOrNext;
this.FreeNode(num);
for (num = parentOrNext; num != -1; num = this._nodes[num].ParentOrNext)
{
TSBBox.CreateMerged(ref this._nodes[this._nodes[num].Child1].AABB, ref this._nodes[this._nodes[num].Child2].AABB, out this._nodes[num].AABB);
Debug.Assert(this._nodes[num].LeafCount > 0);
DynamicTreeNode <T>[] expr_17E_cp_0_cp_0 = this._nodes;
int expr_17E_cp_0_cp_1 = num;
expr_17E_cp_0_cp_0[expr_17E_cp_0_cp_1].LeafCount = expr_17E_cp_0_cp_0[expr_17E_cp_0_cp_1].LeafCount - 1;
}
}
else
{
this._root = num2;
this._nodes[num2].ParentOrNext = -1;
this.FreeNode(num);
}
}
}
public override void GetBoundingBox(ref TSMatrix orientation, out TSBBox box)
{
TSBBox largeBox = TSBBox.LargeBox;
int num = this.Prepare(ref largeBox);
box = TSBBox.SmallBox;
for (int i = 0; i < num; i++)
{
this.SetCurrentShape(i);
base.GetBoundingBox(ref orientation, out largeBox);
TSBBox.CreateMerged(ref box, ref largeBox, out box);
}
}
private void InsertLeaf(int leaf)
{
this._insertionCount++;
bool flag = this._root == -1;
if (flag)
{
this._root = leaf;
this._nodes[this._root].ParentOrNext = -1;
}
else
{
TSBBox aABB = this._nodes[leaf].AABB;
int num = this._root;
while (!this._nodes[num].IsLeaf())
{
int child = this._nodes[num].Child1;
int child2 = this._nodes[num].Child2;
TSBBox.CreateMerged(ref this._nodes[num].AABB, ref aABB, out this._nodes[num].AABB);
DynamicTreeNode <T>[] expr_C2_cp_0_cp_0 = this._nodes;
int expr_C2_cp_0_cp_1 = num;
expr_C2_cp_0_cp_0[expr_C2_cp_0_cp_1].LeafCount = expr_C2_cp_0_cp_0[expr_C2_cp_0_cp_1].LeafCount + 1;
FP perimeter = this._nodes[num].AABB.Perimeter;
TSBBox tSBBox = default(TSBBox);
TSBBox.CreateMerged(ref this._nodes[num].AABB, ref aABB, out this._nodes[num].AABB);
FP perimeter2 = tSBBox.Perimeter;
FP x = 2 * FP.One * perimeter2;
FP y = 2 * FP.One * (perimeter2 - perimeter);
bool flag2 = this._nodes[child].IsLeaf();
FP fP;
if (flag2)
{
TSBBox tSBBox2 = default(TSBBox);
TSBBox.CreateMerged(ref aABB, ref this._nodes[child].AABB, out tSBBox2);
fP = tSBBox2.Perimeter + y;
}
else
{
TSBBox tSBBox3 = default(TSBBox);
TSBBox.CreateMerged(ref aABB, ref this._nodes[child].AABB, out tSBBox3);
FP perimeter3 = this._nodes[child].AABB.Perimeter;
FP perimeter4 = tSBBox3.Perimeter;
fP = perimeter4 - perimeter3 + y;
}
bool flag3 = this._nodes[child2].IsLeaf();
FP y2;
if (flag3)
{
TSBBox tSBBox4 = default(TSBBox);
TSBBox.CreateMerged(ref aABB, ref this._nodes[child2].AABB, out tSBBox4);
y2 = tSBBox4.Perimeter + y;
}
else
{
TSBBox tSBBox5 = default(TSBBox);
TSBBox.CreateMerged(ref aABB, ref this._nodes[child2].AABB, out tSBBox5);
FP perimeter5 = this._nodes[child2].AABB.Perimeter;
FP perimeter6 = tSBBox5.Perimeter;
y2 = perimeter6 - perimeter5 + y;
}
bool flag4 = x < fP && x < y2;
if (flag4)
{
break;
}
TSBBox.CreateMerged(ref aABB, ref this._nodes[num].AABB, out this._nodes[num].AABB);
bool flag5 = fP < y2;
if (flag5)
{
num = child;
}
else
{
num = child2;
}
}
int parentOrNext = this._nodes[num].ParentOrNext;
int num2 = this.AllocateNode();
this._nodes[num2].ParentOrNext = parentOrNext;
this._nodes[num2].UserData = default(T);
TSBBox.CreateMerged(ref aABB, ref this._nodes[num].AABB, out this._nodes[num2].AABB);
this._nodes[num2].LeafCount = this._nodes[num].LeafCount + 1;
bool flag6 = parentOrNext != -1;
if (flag6)
{
bool flag7 = this._nodes[parentOrNext].Child1 == num;
if (flag7)
{
this._nodes[parentOrNext].Child1 = num2;
}
else
{
this._nodes[parentOrNext].Child2 = num2;
}
this._nodes[num2].Child1 = num;
this._nodes[num2].Child2 = leaf;
this._nodes[num].ParentOrNext = num2;
this._nodes[leaf].ParentOrNext = num2;
}
else
{
this._nodes[num2].Child1 = num;
this._nodes[num2].Child2 = leaf;
this._nodes[num].ParentOrNext = num2;
this._nodes[leaf].ParentOrNext = num2;
this._root = num2;
}
}
}