using System.Collections.Generic;
using UnityEngine;

namespace Mtree
{
	public class KDTreeNode
	{
		public Vector3 position;

		public KDTreeNode left;

		public KDTreeNode right;

		public KDTreeNode(Vector3 position)
		{
			this.position = position;
		}

		public void FindClosestRec(Vector3 point, ref float currBestDist, ref Vector3 currBest, int axis)
		{
			float sqrMagnitude = (point - position).sqrMagnitude;
			if (sqrMagnitude < currBestDist)
			{
				currBestDist = sqrMagnitude;
				currBest = position;
			}
			float num = point[axis] - position[axis];
			bool flag = num <= 0f;
			axis = (axis + 1) % 3;
			if (flag)
			{
				if (left != null)
				{
					left.FindClosestRec(point, ref currBestDist, ref currBest, axis);
				}
				if (num * num < currBestDist && right != null)
				{
					right.FindClosestRec(point, ref currBestDist, ref currBest, axis);
				}
			}
			else
			{
				if (right != null)
				{
					right.FindClosestRec(point, ref currBestDist, ref currBest, axis);
				}
				if (num * num < currBestDist && left != null)
				{
					left.FindClosestRec(point, ref currBestDist, ref currBest, axis);
				}
			}
		}

		public void RadiusSearchRec(Vector3 center, float radiusSquared, ref List<Vector3> neighbours, int axis)
		{
			float num = Vector3.SqrMagnitude(center - position);
			if (num < radiusSquared)
			{
				neighbours.Add(position);
			}
			float num2 = position[axis] - center[axis];
			axis = (axis + 1) % 3;
			bool flag = num2 * num2 * Mathf.Sign(num2) > (0f - radiusSquared) / 4f;
			bool flag2 = num2 * num2 * Mathf.Sign(num2) < radiusSquared / 4f;
			if (flag && left != null)
			{
				left.RadiusSearchRec(center, radiusSquared, ref neighbours, axis);
			}
			if (flag2 && right != null)
			{
				right.RadiusSearchRec(center, radiusSquared, ref neighbours, axis);
			}
		}

		public void AddPoint(Vector3 point, int axis)
		{
			bool flag = position[axis] > point[axis];
			KDTreeNode kDTreeNode = ((!flag) ? right : left);
			axis = (axis + 1) % 3;
			if (kDTreeNode == null)
			{
				kDTreeNode = new KDTreeNode(point);
				if (flag)
				{
					left = kDTreeNode;
				}
				else
				{
					right = kDTreeNode;
				}
			}
			else
			{
				kDTreeNode.AddPoint(point, axis);
			}
		}
	}
}