CNavMesh::SampleStep

/* CNavMesh::SampleStep() */

undefined4 __thiscall CNavMesh::SampleStep(CNavMesh *this)

{
  char cVar1;
  char cVar2;
  char cVar3;
  char cVar4;
  float *pfVar5;
  int iVar6;
  uint uVar7;
  int iVar8;
  int iVar9;
  longdouble lVar10;
  float fVar11;
  float fVar12;
  float local_194;
  float local_190;
  float local_180;
  float local_178;
  float local_174;
  float local_170;
  float local_16c;
  float local_168;
  float local_164;
  float local_160;
  float local_15c;
  float local_158;
  undefined4 local_154;
  undefined4 local_150;
  undefined4 local_14c;
  float local_148;
  float local_144;
  float local_140;
  float local_13c;
  float local_138;
  float local_134;
  undefined **local_130 [4];
  undefined4 local_120;
  float local_11c;
  float local_118;
  float local_114;
  float local_10c;
  float local_108;
  float local_104;
  float local_fc;
  float local_f8;
  float local_f4;
  float local_ec;
  float local_e8;
  float local_e4;
  undefined4 local_dc;
  undefined1 local_d8;
  undefined1 local_d7;
  CGameTrace local_c4 [12];
  float local_b8;
  float local_b4;
  float local_b0;
  undefined4 local_ac;
  undefined4 local_a8;
  undefined4 local_a4;
  float local_98;
  ushort local_90;
  byte local_82;
  float local_70;
  float local_6c;
  float local_68;
  float local_64;
  float local_60;
  float local_5c;
  undefined4 local_58;
  undefined4 local_54;
  undefined4 local_50;
  float local_44;
  char local_39;
  
  pfVar5 = *(float **)(this + 0x508);
  if (pfVar5 == (float *)0x0) goto LAB_00727734;
  do {
    do {
      do {
        uVar7 = 0;
        do {
          if ((*(byte *)(pfVar5 + 0x1a) >> (uVar7 & 0x1f) & 1) == 0) {
            local_178 = *pfVar5;
            local_174 = pfVar5[1];
            local_170 = pfVar5[2];
            lVar10 = (longdouble)SnapToGrid(this,local_178,false);
            iVar9 = (int)lVar10;
            lVar10 = (longdouble)SnapToGrid(this,local_174,false);
            iVar8 = (int)lVar10;
            if (uVar7 == 2) {
              iVar8 = (int)((float)iVar8 + 25.0);
            }
            else if (uVar7 == 3) {
              iVar9 = (int)((float)iVar9 - 25.0);
            }
            else if (uVar7 == 1) {
              iVar9 = (int)((float)iVar9 + 25.0);
            }
            else {
              iVar8 = (int)((float)iVar8 - 25.0);
            }
            local_174 = (float)iVar8;
            *(uint *)(this + 0x50c) = uVar7;
            local_178 = (float)iVar9;
            *(byte *)(*(int *)(this + 0x508) + 0x68) =
                 *(byte *)(*(int *)(this + 0x508) + 0x68) | (byte)(1 << ((byte)uVar7 & 0x1f));
            fVar12 = *(float *)(nav_generate_incremental_range._28_4_ + 0x2c);
            if (*(int *)(this + 0x528) == 2) {
              if (0.0 < fVar12) {
                if (*(int *)(this + 0x564) < 1) {
                  return 1;
                }
                iVar8 = 0;
                pfVar5 = *(float **)(this + 0x558);
                while (fVar12 * fVar12 <=
                       (pfVar5[2] - local_170) * (pfVar5[2] - local_170) +
                       (pfVar5[1] - local_174) * (pfVar5[1] - local_174) +
                       (*pfVar5 - local_178) * (*pfVar5 - local_178)) {
                  iVar8 = iVar8 + 1;
                  pfVar5 = pfVar5 + 6;
                  if (iVar8 == *(int *)(this + 0x564)) {
                    return 1;
                  }
                }
              }
            }
            else if (*(int *)(this + 0x528) == 3) {
              if (local_178 < *(float *)(this + 0x53c)) {
                return 1;
              }
              if (*(float *)(this + 0x548) <= local_178 && local_178 != *(float *)(this + 0x548)) {
                return 1;
              }
              if (local_174 < *(float *)(this + 0x540)) {
                return 1;
              }
              if (*(float *)(this + 0x54c) <= local_174 && local_174 != *(float *)(this + 0x54c)) {
                return 1;
              }
              if (local_170 < *(float *)(this + 0x544)) {
                return 1;
              }
              if (*(float *)(this + 0x550) <= local_170 && local_170 != *(float *)(this + 0x550)) {
                return 1;
              }
            }
            pfVar5 = *(float **)(this + 0x508);
            local_16c = *pfVar5;
            local_168 = pfVar5[1];
            local_164 = pfVar5[2];
            CTraceFilterSimple::CTraceFilterSimple
                      ((CTraceFilterSimple *)local_130,(IHandleEntity *)0x0,0,
                       (_func_bool_IHandleEntity_ptr_int *)0x0);
            local_130[0] = &PTR_ShouldHitEntity_00ca1b68;
            local_120 = 0xf;
            cVar1 = TraceAdjacentNode(0,(Vector *)&local_16c,(Vector *)&local_178,local_c4,400.0);
            if (cVar1 == '\0') {
              iVar8 = 0xb7;
              local_180 = 18.0;
              local_190 = 25.0;
              local_194 = 0.0;
              while( true ) {
                local_dc = 0;
                local_148 = local_16c;
                local_144 = local_168;
                local_140 = local_164 + local_180;
                local_13c = local_178;
                local_10c = local_178 - local_16c;
                local_138 = local_174;
                local_108 = local_174 - local_168;
                local_134 = local_180 + local_170;
                local_104 = local_134 - local_140;
                local_d7 = local_108 * local_108 + local_10c * local_10c + local_104 * local_104 !=
                           0.0;
                local_ec = (NavTraceMaxs - NavTraceMins) * 0.5;
                local_e8 = (DAT_00fe6ba4 - DAT_00fe6bb0) * 0.5;
                local_e4 = (DAT_00fe6ba8 - DAT_00fe6bb4) * 0.5;
                local_fc = (NavTraceMaxs + NavTraceMins) * 0.5;
                local_f8 = (DAT_00fe6ba4 + DAT_00fe6bb0) * 0.5;
                local_f4 = (DAT_00fe6ba8 + DAT_00fe6bb4) * 0.5;
                local_118 = local_168 + local_f8;
                local_f8 = -local_f8;
                local_114 = local_140 + local_f4;
                local_f4 = -local_f4;
                local_d8 = local_e8 * local_e8 + local_ec * local_ec + local_e4 * local_e4 < 1e-06;
                local_11c = local_16c + local_fc;
                local_fc = -local_fc;
                (**(code **)(*enginetrace + 0x14))
                          (enginetrace,&local_11c,0x2420b,(CTraceFilterSimple *)local_130,
                           (Vector *)&local_70);
                if (*(int *)(r_visualizetraces._28_4_ + 0x30) != 0) {
                  DebugDrawLine((Vector *)&local_70,(Vector *)&local_64,0xff,0xff,0,true,-1.0);
                }
                if ((local_39 == '\0') && (local_44 == 1.0)) break;
                fVar12 = (local_64 - local_148) * (local_64 - local_148) +
                         (local_5c - local_140) * (local_5c - local_140) +
                         (local_60 - local_144) * (local_60 - local_144);
                if (fVar12 <= 625.0) {
                  local_10c = local_148 - local_13c;
                  local_108 = local_144 - local_138;
                  local_dc = 0;
                  local_104 = local_140 - local_134;
                  local_ec = (NavTraceMaxs - NavTraceMins) * 0.5;
                  local_fc = (NavTraceMaxs + NavTraceMins) * 0.5;
                  local_d7 = local_10c * local_10c + local_108 * local_108 + local_104 * local_104
                             != 0.0;
                  local_e4 = (DAT_00fe6ba8 - DAT_00fe6bb4) * 0.5;
                  local_e8 = (DAT_00fe6ba4 - DAT_00fe6bb0) * 0.5;
                  local_f8 = (DAT_00fe6ba4 + DAT_00fe6bb0) * 0.5;
                  local_f4 = (DAT_00fe6ba8 + DAT_00fe6bb4) * 0.5;
                  local_114 = local_134 + local_f4;
                  local_d8 = local_ec * local_ec + local_e4 * local_e4 + local_e8 * local_e8 < 1e-06
                  ;
                  local_11c = local_13c + local_fc;
                  local_118 = local_138 + local_f8;
                  local_fc = -local_fc;
                  local_f8 = -local_f8;
                  local_f4 = -local_f4;
                  (**(code **)(*enginetrace + 0x14))
                            (enginetrace,&local_11c,0x2420b,(CTraceFilterSimple *)local_130,
                             (Vector *)&local_70);
                  if (*(int *)(r_visualizetraces._28_4_ + 0x30) != 0) {
                    DebugDrawLine((Vector *)&local_70,(Vector *)&local_64,0xff,0xff,0,true,-1.0);
                  }
                  if (((local_39 == '\0') && (local_44 < 1.0)) &&
                     (fVar11 = (local_60 - local_144) * (local_60 - local_144) +
                               (local_64 - local_148) * (local_64 - local_148) +
                               (local_5c - local_140) * (local_5c - local_140), fVar11 <= 625.0)) {
                    local_194 = SQRT(fVar12);
                    local_190 = SQRT(fVar11);
                    if (local_190 == 0.0) {
                      local_190 = 25.0;
                    }
                  }
                }
                iVar8 = iVar8 + -1;
                local_180 = local_180 + 1.0;
                if (iVar8 == 0) {
                  return 1;
                }
              }
              cVar1 = StayOnFloor((CGameTrace *)&local_70,400.0);
              if (cVar1 == '\0') {
                return 1;
              }
              local_160 = local_64;
              local_15c = local_60;
              local_158 = local_5c;
              local_154 = local_58;
              local_150 = local_54;
              local_14c = local_50;
              local_13c = local_16c;
              local_140 = local_164;
              local_134 = local_164 + local_180;
              local_138 = local_168;
              local_148 = local_16c;
              local_144 = local_168;
              UTIL_TraceHull((Vector *)&local_148,(Vector *)&local_13c,(Vector *)&NavTraceMins,
                             (Vector *)&NavTraceMaxs,0x2420b,(ITraceFilter *)local_130,
                             (CGameTrace *)&local_70);
              if (local_44 < 1.0) {
                return 1;
              }
            }
            else {
              local_160 = local_b8;
              local_190 = 25.0;
              local_15c = local_b4;
              local_194 = 0.0;
              local_158 = local_b0;
              local_180 = 0.0;
              local_154 = local_ac;
              local_150 = local_a8;
              local_14c = local_a4;
            }
            if ((local_82 & 6) != 0) {
              return 1;
            }
            local_70 = 1.0;
            local_6c = 1.0;
            local_68 = 35.5;
            local_13c = local_160;
            local_138 = local_15c;
            local_134 = local_158;
            cVar1 = IsNodeOverlapped((Vector *)&local_13c,(Vector *)&local_70);
            local_70 = -1.0;
            local_6c = 1.0;
            local_68 = 35.5;
            cVar2 = IsNodeOverlapped((Vector *)&local_13c,(Vector *)&local_70);
            local_70 = 1.0;
            local_6c = -1.0;
            local_68 = 35.5;
            cVar3 = IsNodeOverlapped((Vector *)&local_13c,(Vector *)&local_70);
            local_70 = -1.0;
            local_6c = -1.0;
            local_68 = 35.5;
            cVar4 = IsNodeOverlapped((Vector *)&local_13c,(Vector *)&local_70);
            if (((cVar1 != '\0') && (cVar2 != '\0')) &&
               ((cVar3 != '\0' && ((cVar4 != '\0' && (*(int *)(this + 0x528) != 3)))))) {
              return 1;
            }
            if ((0 < *(int *)(nav_generate_incremental_tolerance._28_4_ + 0x30)) &&
               (*(int *)(this + 0x528) == 2)) {
              iVar8 = (int)local_158;
              if (*(int *)(this + 0x564) < 1) {
                return 1;
              }
              iVar9 = *(int *)(this + 0x558);
              fVar12 = (float)*(int *)(nav_generate_incremental_tolerance._28_4_ + 0x30);
              if ((iVar8 < (int)(*(float *)(iVar9 + 8) - fVar12)) ||
                 ((int)(*(float *)(iVar9 + 8) + fVar12) < iVar8)) {
                iVar6 = 0;
                do {
                  iVar6 = iVar6 + 1;
                  if (iVar6 == *(int *)(this + 0x564)) {
                    return 1;
                  }
                  pfVar5 = (float *)(iVar9 + 0x20);
                  iVar9 = iVar9 + 0x18;
                } while (((int)(*pfVar5 + fVar12) < iVar8) || (iVar8 < (int)(*pfVar5 - fVar12)));
              }
            }
            if (0 < *(int *)(nav_displacement_test._28_4_ + 0x30)) {
              local_118 = local_15c;
              local_6c = local_15c;
              local_68 = (float)*(int *)(nav_displacement_test._28_4_ + 0x30) + local_158;
              local_11c = local_160;
              local_114 = local_158;
              local_70 = local_160;
              UTIL_TraceHull((Vector *)&local_11c,(Vector *)&local_70,(Vector *)&NavTraceMins,
                             (Vector *)&NavTraceMaxs,0x2420b,(ITraceFilter *)local_130,local_c4);
              if (0.0 < local_98) {
                local_70 = local_11c;
                local_6c = local_118;
                local_68 = local_114;
                local_11c = local_b8;
                local_118 = local_b4;
                local_114 = local_b0;
                UTIL_TraceHull((Vector *)&local_11c,(Vector *)&local_70,(Vector *)&NavTraceMins,
                               (Vector *)&NavTraceMaxs,0x2420b,(ITraceFilter *)local_130,local_c4);
                if ((local_98 < 1.0) && (local_158 + 18.0 < local_b0)) {
                  return 1;
                }
              }
            }
            if (local_180 < 18.0) {
              local_194 = 0.0;
              local_190 = 25.0;
              local_180 = local_194;
            }
            else if (local_180 - 2.0 < local_158 - *(float *)(*(int *)(this + 0x508) + 8)) {
              local_190 = 25.0;
              local_194 = 0.0;
              local_180 = 0.0;
            }
            AddNode(this,&local_160,&local_154,*(undefined4 *)(this + 0x50c),*(int *)(this + 0x508),
                    local_90 & 1,local_180,local_194,local_190);
            return 1;
          }
          uVar7 = uVar7 + 1;
        } while (uVar7 != 4);
        pfVar5 = (float *)pfVar5[0x1b];
        *(float **)(this + 0x508) = pfVar5;
      } while (pfVar5 != (float *)0x0);
LAB_00727734:
      pfVar5 = (float *)GetNextWalkableSeedNode(this);
      *(float **)(this + 0x508) = pfVar5;
    } while (pfVar5 != (float *)0x0);
    if ((*(int *)(this + 0x528) - 2U < 2) || (*(int *)(this + 0x51c) < 1)) {
      return 0;
    }
    iVar8 = 0;
    while( true ) {
      iVar9 = *(int *)(*(int *)(this + 0x510) + iVar8 * 4);
      pfVar5 = (float *)LadderEndSearch(iVar9 + 0x10,*(undefined4 *)(iVar9 + 0x3c));
      *(float **)(this + 0x508) = pfVar5;
      if (pfVar5 != (float *)0x0) break;
      pfVar5 = (float *)LadderEndSearch(iVar9 + 4,*(undefined4 *)(iVar9 + 0x3c));
      *(float **)(this + 0x508) = pfVar5;
      if (pfVar5 != (float *)0x0) break;
      iVar8 = iVar8 + 1;
      if (*(int *)(this + 0x51c) <= iVar8) {
        return 0;
      }
    }
  } while( true );
}