Pathfinding.TriangleMeshNode.ClosestPointOnNode C# (CSharp) Method

		public override Vector3 ClosestPointOnNode (Vector3 p) {
			INavmeshHolder g = GetNavmeshHolder(GraphIndex);
			return Pathfinding.Polygon.ClosestPointOnTriangle ((Vector3)g.GetVertex(v0), (Vector3)g.GetVertex(v1), (Vector3)g.GetVertex(v2), p);
		}
		

        /** This performs a linear search through all polygons returning the closest one.
         * This will fill the NNInfo with .node for the closest node not necessarily complying with the NNConstraint, and .constrainedNode with the closest node
         * complying with the NNConstraint.
         * \see GetNearestForce(Node[],Int3[],Vector3,NNConstraint,bool)
         */
        public static NNInfo GetNearestForceBoth(NavGraph graph, INavmeshHolder navmesh, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
        {
            Int3 pos = (Int3)position;

            float     minDist = -1;
            GraphNode minNode = null;

            float     minConstDist = -1;
            GraphNode minConstNode = null;

            float maxDistSqr = constraint.constrainDistance ? AstarPath.active.maxNearestNodeDistanceSqr : float.PositiveInfinity;

            GraphNodeDelegateCancelable del = delegate(GraphNode _node) {
                TriangleMeshNode node = _node as TriangleMeshNode;

                if (accurateNearestNode)
                {
                    Vector3 closest = node.ClosestPointOnNode(position);
                    float   dist    = ((Vector3)pos - closest).sqrMagnitude;

                    if (minNode == null || dist < minDist)
                    {
                        minDist = dist;
                        minNode = node;
                    }

                    if (dist < maxDistSqr && constraint.Suitable(node))
                    {
                        if (minConstNode == null || dist < minConstDist)
                        {
                            minConstDist = dist;
                            minConstNode = node;
                        }
                    }
                }
                else
                {
                    if (!node.ContainsPoint((Int3)position))
                    {
                        float dist = (node.position - pos).sqrMagnitude;
                        if (minNode == null || dist < minDist)
                        {
                            minDist = dist;
                            minNode = node;
                        }

                        if (dist < maxDistSqr && constraint.Suitable(node))
                        {
                            if (minConstNode == null || dist < minConstDist)
                            {
                                minConstDist = dist;
                                minConstNode = node;
                            }
                        }
                    }
                    else
                    {
                        int dist = AstarMath.Abs(node.position.y - pos.y);

                        if (minNode == null || dist < minDist)
                        {
                            minDist = dist;
                            minNode = node;
                        }

                        if (dist < maxDistSqr && constraint.Suitable(node))
                        {
                            if (minConstNode == null || dist < minConstDist)
                            {
                                minConstDist = dist;
                                minConstNode = node;
                            }
                        }
                    }
                }
                return(true);
            };

            graph.GetNodes(del);

            NNInfo nninfo = new NNInfo(minNode);

            //Find the point closest to the nearest triangle

            if (nninfo.node != null)
            {
                TriangleMeshNode node = nninfo.node as TriangleMeshNode;                //minNode2 as MeshNode;

                Vector3 clP = node.ClosestPointOnNode(position);

                nninfo.clampedPosition = clP;
            }

            nninfo.constrainedNode = minConstNode;
            if (nninfo.constrainedNode != null)
            {
                TriangleMeshNode node = nninfo.constrainedNode as TriangleMeshNode;                //minNode2 as MeshNode;

                Vector3 clP = node.ClosestPointOnNode(position);

                nninfo.constClampedPosition = clP;
            }

            return(nninfo);
        }