Pathfinding.Polygon.IntersectionFactor C# (CSharp) Method

		public static bool IntersectionFactor (Int3 start1, Int3 end1, Int3 start2, Int3 end2, out float factor1, out float factor2) {
			
			Int3 dir1 = end1-start1;
			Int3 dir2 = end2-start2;
			
			//Color rnd = new Color (Random.value,Random.value,Random.value);
			//Debug.DrawRay (start1,dir1,rnd);
			//Debug.DrawRay (start2,dir2,rnd);
			
			long den = dir2.z*dir1.x - dir2.x * dir1.z;
			
			if (den == 0) {
				factor1 = 0;
				factor2 = 0;
				return false;
			}
			
			long nom = dir2.x*(start1.z-start2.z)- dir2.z*(start1.x-start2.x);
			long nom2 = dir1.x*(start1.z-start2.z) - dir1.z * (start1.x - start2.x);
			
			factor1 = (float)nom/den;
			factor2 = (float)nom2/den;
			
			//Debug.DrawLine (start2,end2,Color.magenta);
			//Debug.DrawRay (start1,dir1*5,Color.green);
			return true;
		}
		

        public static bool Linecast(INavmesh graph, Vector3 tmp_origin, Vector3 tmp_end, GraphNode hint, out GraphHitInfo hit, List <GraphNode> trace)
        {
            Int3 @int = (Int3)tmp_end;
            Int3 int2 = (Int3)tmp_origin;

            hit = default(GraphHitInfo);
            if (float.IsNaN(tmp_origin.x + tmp_origin.y + tmp_origin.z))
            {
                throw new ArgumentException("origin is NaN");
            }
            if (float.IsNaN(tmp_end.x + tmp_end.y + tmp_end.z))
            {
                throw new ArgumentException("end is NaN");
            }
            TriangleMeshNode triangleMeshNode = hint as TriangleMeshNode;

            if (triangleMeshNode == null)
            {
                triangleMeshNode = ((graph as NavGraph).GetNearest(tmp_origin, NNConstraint.None).node as TriangleMeshNode);
                if (triangleMeshNode == null)
                {
                    Debug.LogError("Could not find a valid node to start from");
                    hit.point = tmp_origin;
                    return(true);
                }
            }
            if (int2 == @int)
            {
                hit.node = triangleMeshNode;
                return(false);
            }
            int2       = (Int3)triangleMeshNode.ClosestPointOnNode((Vector3)int2);
            hit.origin = (Vector3)int2;
            if (!triangleMeshNode.Walkable)
            {
                hit.point         = (Vector3)int2;
                hit.tangentOrigin = (Vector3)int2;
                return(true);
            }
            List <Vector3> list = ListPool <Vector3> .Claim();

            List <Vector3> list2 = ListPool <Vector3> .Claim();

            int num = 0;

            while (true)
            {
                num++;
                if (num > 2000)
                {
                    break;
                }
                TriangleMeshNode triangleMeshNode2 = null;
                if (trace != null)
                {
                    trace.Add(triangleMeshNode);
                }
                if (triangleMeshNode.ContainsPoint(@int))
                {
                    goto Block_9;
                }
                for (int i = 0; i < triangleMeshNode.connections.Length; i++)
                {
                    if (triangleMeshNode.connections[i].GraphIndex == triangleMeshNode.GraphIndex)
                    {
                        list.Clear();
                        list2.Clear();
                        if (triangleMeshNode.GetPortal(triangleMeshNode.connections[i], list, list2, false))
                        {
                            Vector3 vector  = list[0];
                            Vector3 vector2 = list2[0];
                            if (Polygon.LeftNotColinear(vector, vector2, hit.origin) || !Polygon.LeftNotColinear(vector, vector2, tmp_end))
                            {
                                float num2;
                                float num3;
                                if (Polygon.IntersectionFactor(vector, vector2, hit.origin, tmp_end, out num2, out num3))
                                {
                                    if (num3 >= 0f)
                                    {
                                        if (num2 >= 0f && num2 <= 1f)
                                        {
                                            triangleMeshNode2 = (triangleMeshNode.connections[i] as TriangleMeshNode);
                                            break;
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
                if (triangleMeshNode2 == null)
                {
                    goto Block_18;
                }
                triangleMeshNode = triangleMeshNode2;
            }
            Debug.LogError("Linecast was stuck in infinite loop. Breaking.");
            ListPool <Vector3> .Release(list);

            ListPool <Vector3> .Release(list2);

            return(true);

Block_9:
            ListPool <Vector3> .Release(list);

            ListPool <Vector3> .Release(list2);

            return(false);

Block_18:
            int vertexCount = triangleMeshNode.GetVertexCount();

            for (int j = 0; j < vertexCount; j++)
            {
                Vector3 vector3 = (Vector3)triangleMeshNode.GetVertex(j);
                Vector3 vector4 = (Vector3)triangleMeshNode.GetVertex((j + 1) % vertexCount);
                if (Polygon.LeftNotColinear(vector3, vector4, hit.origin) || !Polygon.LeftNotColinear(vector3, vector4, tmp_end))
                {
                    float num4;
                    float num5;
                    if (Polygon.IntersectionFactor(vector3, vector4, hit.origin, tmp_end, out num4, out num5))
                    {
                        if (num5 >= 0f)
                        {
                            if (num4 >= 0f && num4 <= 1f)
                            {
                                Vector3 point = vector3 + (vector4 - vector3) * num4;
                                hit.point         = point;
                                hit.node          = triangleMeshNode;
                                hit.tangent       = vector4 - vector3;
                                hit.tangentOrigin = vector3;
                                ListPool <Vector3> .Release(list);

                                ListPool <Vector3> .Release(list2);

                                return(true);
                            }
                        }
                    }
                }
            }
            Debug.LogWarning("Linecast failing because point not inside node, and line does not hit any edges of it");
            ListPool <Vector3> .Release(list);

            ListPool <Vector3> .Release(list2);

            return(false);
        }