/ *   
 
   *   P R O J E C T :   N y A R T o o l k i t C S ( E x t e n s i o n ) 
 
   *   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
   *   T h e   N y A R T o o l k i t C S   i s   C #   e d i t i o n   A R T o o l K i t   c l a s s   l i b r a r y . 
 
   *   C o p y r i g h t   ( C ) 2 0 0 8 - 2 0 0 9   R y o   I i z u k a 
 
   * 
 
   *   T h i s   p r o g r a m   i s   f r e e   s o f t w a r e :   y o u   c a n   r e d i s t r i b u t e   i t   a n d / o r   m o d i f y 
 
   *   i t   u n d e r   t h e   t e r m s   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e   a s   p u b l i s h e d   b y 
 
   *   t h e   F r e e   S o f t w a r e   F o u n d a t i o n ,   e i t h e r   v e r s i o n   3   o f   t h e   L i c e n s e ,   o r 
 
   *   ( a t   y o u r   o p t i o n )   a n y   l a t e r   v e r s i o n . 
 
   *   
 
   *   T h i s   p r o g r a m   i s   d i s t r i b u t e d   i n   t h e   h o p e   t h a t   i t   w i l l   b e   u s e f u l , 
 
   *   b u t   W I T H O U T   A N Y   W A R R A N T Y ;   w i t h o u t   e v e n   t h e   i m p l i e d   w a r r a n t y   o f 
 
   *   M E R C H A N T A B I L I T Y   o r   F I T N E S S   F O R   A   P A R T I C U L A R   P U R P O S E .     S e e   t h e 
 
   *   G N U   G e n e r a l   P u b l i c   L i c e n s e   f o r   m o r e   d e t a i l s . 
 
   * 
 
   *   Y o u   s h o u l d   h a v e   r e c e i v e d   a   c o p y   o f   t h e   G N U   G e n e r a l   P u b l i c   L i c e n s e 
 
   *   a l o n g   w i t h   t h i s   p r o g r a m .     I f   n o t ,   s e e   < h t t p : / / w w w . g n u . o r g / l i c e n s e s / > . 
 
   *   
 
   *   F o r   f u r t h e r   i n f o r m a t i o n   p l e a s e   c o n t a c t . 
 
   * 	 h t t p : / / n y a t l a . j p / n y a t o o l k i t / 
 
   * 	 < a i r m a i l ( a t ) e b o n y . p l a l a . o r . j p >   o r   < n y a t l a ( a t ) n y a t l a . j p > 
 
   *   
 
   * / 
 
 u s i n g   S y s t e m ; 
 
 u s i n g   S y s t e m . D i a g n o s t i c s ; 
 
 u s i n g   j p . n y a t l a . n y a r t o o l k i t . c s . c o r e ; 
 
 
 
 n a m e s p a c e   j p . n y a t l a . n y a r t o o l k i t . c s . r p f 
 
 { 
 
         / * * 
 
           *   N y A R R e a l i t y 000n0ƙR000g0Y00
 
           *   R e a l i t y 000n0Och00fe0bS_W0~0Y00
 
           *   < p > N y A R R e a l i t y M o d e l < / p > 
 
           *   N y A R R e a l i t y 000o00A R T o o l K i t n00000XQt|0R e a l i t y SW0~0Y00
 
           *   N y A R R e a l i t y 000g0o00zzk0X[(WY00pen0000000000h0W0f0S0qbD0~0Y00
 
           *   000o0R00U n k n o w n 00000h0W0f00R e a l i t y n0-Nk0s0~0Y00
 
           *   R e a l i t y o00U n k n o w n 00000n0X[(W0Sj0P0}cW00]0n0000h0Q[0lQW0~0Y00
 
           *   
 
           *   U n k n o w n 00000o0K n o w n 00000x0f<hU0[00S0h0L0g0M0~0Y00
 
           *   ]0n0elo00U n k n o w n 00000n0wQSOSk0_j0`1X( 000eMOh0'YM0U0) 0eQRY00S0h0g0Y00
 
           *   'YM0U0h0eMO0y00_00k00U n k n o w n 00000o0000k0Y00D0O0d0K0n00000pe0cOW0~0Y00
 
           *   000o00]000n0peK00_000`1X0CQk0$P0c[W00U n k n o w n 000000K n o w n 00000k0
 
           *   f<hU0[00Qt0LD0~0Y00
 
           *   
 
           *   f<hW0_0K n o w n 00000K00o00000k0Y00U00k0s0}j0`1Xk00000Y00pe0cOW0~0Y00
 
           *   
 
           *   000L0
Nj0U n k n o w n / K n o w n 00000o00D e a d 00000x0M<hU0[00S0h00g0M0~0Y00
 
           *   S0n000000o00!kn0Qt0000g0ewn0
N00000k0j000W0p00O0n0R e a l i t y n0
 
           *   {tK00YU00~0Y00W0p00O0Y00h00~0_0U n k n o w n 00000k0s0~0Y00D e a d 00000o0aVvk0
 
           *   zvuU0[004XTNYk00Rvk0zvuW0f0W0~0F0S0h0L0B00~0Y00S00o00000L0LuK00mH0f0W0~0c0_0h0M0g0Y00
 
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         p u b l i c   c l a s s   N y A R R e a l i t y 
 
         { 
 
 	         / / ΑOn0000
 
 	         p u b l i c   c o n s t   d o u b l e   F R A S T R A M _ A R T K _ N E A R = 1 0 ; 
 
 	         p u b l i c   c o n s t   d o u b l e   F R A S T R A M _ A R T K _ F A R = 1 0 0 0 0 ; 
 
 	         / * * f r a s t u m * / 
 
 	         p r o t e c t e d   N y A R F r u s t u m   _ f r u s t u m ; 
 
 	         p r o t e c t e d   N y A R P e r s p e c t i v e P r o j e c t i o n M a t r i x   _ r e f _ p r j m a t ; 
 
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 
         	 
 
 	         / / R e a l i t y g00_0
 
 	         / * * 
 
 	           *   U n k n o w n 00000n0 g'Ypeg0Y00
 
 	           * / 
 
 	         p r i v a t e   i n t   M A X _ L I M I T _ U N K N O W N ; 
 
 	         / * * 
 
 	           *   K n o w n 00000n0 g'Ypeg0Y00
 
 	           * / 
 
 	         p r i v a t e   i n t   M A X _ L I M I T _ K N O W N ; 	 
 
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 	         / * * 
 
 	           *   s a m p l e r n0QR$P0S0n0	Ypeo0N y A R R e a l i t y K00n00OD0~0Y00
 
 	           * / 
 
 	         p r i v a t e   N y A R R e a l i t y T a r g e t P o o l   _ p o o l ; 
 
 
 
 	         p r i v a t e   N y A R R e a l i t y T a r g e t L i s t   t a r g e t ; 
 
 
 
 	         / / .z^T0h0n000000n0pe
 
         	 
 
 	         p r i v a t e   i n t   _ n u m b e r _ o f _ u n k n o w n ; 
 
 	         p r i v a t e   i n t   _ n u m b e r _ o f _ k n o w n ; 
 
 	         p r i v a t e   i n t   _ n u m b e r _ o f _ d e a d ; 	 
 
 	         / / 
 
 	         p r i v a t e   N y A R T r a c k e r   _ t r a c k e r ; 
 
 	         p r i v a t e   I N y A R T r a n s M a t   _ t r a n s m a t ; 
 
         	 
 
 	         / * * 
 
 	           *   00000000
 
 	           *   =jWjk0L0\j0D00~0_0o0܈ckn0n0;uP0eQRY00h0M0k0o00{ @ l i n k   # N y A R R e a l i t y ( N y A R I n t S i z e ,   d o u b l e ,   d o u b l e ,   N y A R P e r s p e c t i v e P r o j e c t i o n M a t r i x ,   N y A R C a m e r a D i s t o r t i o n F a c t o r ,   i n t ,   i n t ) } 
 
 	           *   n0i _ d i s t _ f a c t o r k0n u l l 0c[Y00h0000ؚj0R\OL0g_g0M0~0Y00
 
 	           *   @ p a r a m   i _ p a r a m 
 
 	           *   000000000c[W0~0Y00
 
 	           *   @ p a r a m   i _ n e a r 
 
 	           *   SOn0n e a r - p o i n t 0m m XSMOg0c[W0~0Y00
 
 	           *   d e f a u l t $Po0{ @ l i n k   # F R A S T R A M _ A R T K _ N E A R } g0Y00
 
 	           *   @ p a r a m   i _ f a r 
 
 	           *   SOn0f a r - p o i n t 0m m XSMOg0c[W0~0Y00
 
 	           *   d e f a u l t $Po0{ @ l i n k   # F R A S T R A M _ A R T K _ F A R } g0Y00
 
 	           *   @ p a r a m   i _ m a x _ k n o w n _ t a r g e t 
 
 	           *   K n o w n 00000n0 g'Ype0c[W0~0Y00
 
 	           *   @ p a r a m   i _ m a x _ u n k n o w n _ t a r g e t 
 
 	           *   U n K n o w n 00000n0 g'Ype0c[W0~0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p u b l i c   N y A R R e a l i t y ( N y A R P a r a m   i _ p a r a m , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) 
 
 	         { 
 
 	 	         / / [peh0K0D00D00
 
 	 	         t h i s . M A X _ L I M I T _ K N O W N = i _ m a x _ k n o w n _ t a r g e t ; 
 
 	 	         t h i s . M A X _ L I M I T _ U N K N O W N = i _ m a x _ u n k n o w n _ t a r g e t ; 
 
 	 	         t h i s . i n i t I n s t a n c e ( i _ p a r a m . g e t S c r e e n S i z e ( ) , i _ n e a r , i _ f a r , i _ p a r a m . g e t P e r s p e c t i v e P r o j e c t i o n M a t r i x ( ) , i _ p a r a m . g e t D i s t o r t i o n F a c t o r ( ) ) ; 
 
 	 	         r e t u r n ; 
 
 	         } 
 
 	         / * * 
 
 	           *   00000000
 
 	           *   @ p a r a m   i _ s c r e e n 
 
 	           *   00000( eQR;uP) n00000c[W0~0Y00
 
 	           *   @ p a r a m   i _ n e a r 
 
 	           *   { @ l i n k   # N y A R R e a l i t y ( N y A R P a r a m   i _ p a r a m , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) } 0Sgq
 
 	           *   @ p a r a m   i _ f a r 
 
 	           *   { @ l i n k   # N y A R R e a l i t y ( N y A R P a r a m   i _ p a r a m , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) } 0Sgq
 
 	           *   @ p a r a m   i _ p r j m a t 
 
 	           *   A R T o o l K i t b__n0\q_	Yc000000c[W0~0Y00
 
 	           *   @ p a r a m   i _ d i s t _ f a c t o r 
 
 	           *   000jk0wck0000000c[W0~0Y00jk0wckL0
Nj0Bfo00n u l l 0c[W0~0Y00
 
 	           *   @ p a r a m   i _ m a x _ k n o w n _ t a r g e t 
 
 	           *   { @ l i n k   # N y A R R e a l i t y ( N y A R P a r a m   i _ p a r a m , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) } 0Sgq
 
 	           *   @ p a r a m   i _ m a x _ u n k n o w n _ t a r g e t 
 
 	           *   { @ l i n k   # N y A R R e a l i t y ( N y A R P a r a m   i _ p a r a m , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) } 0Sgq
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p u b l i c   N y A R R e a l i t y ( N y A R I n t S i z e   i _ s c r e e n , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , N y A R P e r s p e c t i v e P r o j e c t i o n M a t r i x   i _ p r j m a t , I N y A R C a m e r a D i s t o r t i o n F a c t o r   i _ d i s t _ f a c t o r , i n t   i _ m a x _ k n o w n _ t a r g e t , i n t   i _ m a x _ u n k n o w n _ t a r g e t ) 
 
 	         { 
 
 	 	         t h i s . M A X _ L I M I T _ K N O W N = i _ m a x _ k n o w n _ t a r g e t ; 
 
 	 	         t h i s . M A X _ L I M I T _ U N K N O W N = i _ m a x _ u n k n o w n _ t a r g e t ; 
 
 	 	         t h i s . i n i t I n s t a n c e ( i _ s c r e e n , i _ n e a r , i _ f a r , i _ p r j m a t , i _ d i s t _ f a c t o r ) ; 
 
 	         } 
 
 	         / * * 
 
 	           *   0000000K00|Ts0QY0qQj0RgSRg0Y00
 
 	           *   @ p a r a m   i _ d i s t _ f a c t o r 
 
 	           *   @ p a r a m   i _ p r j m a t 
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p r o t e c t e d   v o i d   i n i t I n s t a n c e ( N y A R I n t S i z e   i _ s c r e e n , d o u b l e   i _ n e a r , d o u b l e   i _ f a r , N y A R P e r s p e c t i v e P r o j e c t i o n M a t r i x   i _ p r j m a t , I N y A R C a m e r a D i s t o r t i o n F a c t o r   i _ d i s t _ f a c t o r ) 
 
 	         { 
 
 	 	         i n t   n u m b e r _ o f _ r e a l i t y _ t a r g e t = t h i s . M A X _ L I M I T _ K N O W N + t h i s . M A X _ L I M I T _ U N K N O W N ; 
 
 	 	         / / o{000000
 
 	 	         t h i s . _ t r a n s m a t = n e w   N y A R T r a n s M a t ( i _ d i s t _ f a c t o r , i _ p r j m a t ) ; 
 
 
 
 	 	         / / 000000000
 
 	 	         t h i s . _ p o o l = n e w   N y A R R e a l i t y T a r g e t P o o l ( n u m b e r _ o f _ r e a l i t y _ t a r g e t , i _ p r j m a t ) ; 
 
 	 	         t h i s . t a r g e t = n e w   N y A R R e a l i t y T a r g e t L i s t ( n u m b e r _ o f _ r e a l i t y _ t a r g e t ) ; 
 
 	 	         / / T r a c k e r n0yr'`$P
 
 	 	         t h i s . _ t r a c k e r = n e w   N y A R T r a c k e r ( ( t h i s . M A X _ L I M I T _ K N O W N + t h i s . M A X _ L I M I T _ U N K N O W N ) * 2 , 1 , t h i s . M A X _ L I M I T _ K N O W N * 2 ) ; 
 
 	 	         / / 00000n0{h000000000n0OX[
 
 	 	         t h i s . _ r e f _ p r j m a t = i _ p r j m a t ; 
 
 	 	         t h i s . _ f r u s t u m = n e w   N y A R F r u s t u m ( i _ p r j m a t , i _ s c r e e n . w , i _ s c r e e n . h ,   i _ n e a r ,   i _ f a r ) ; 
 
 
 
 	 	         / / RgS
 
 	 	         t h i s . _ n u m b e r _ o f _ d e a d = t h i s . _ n u m b e r _ o f _ u n k n o w n = t h i s . _ n u m b e r _ o f _ k n o w n = 0 ; 
 
 	 	         r e t u r n ; 
 
 	         } 
 
 	         / * * 
 
 	           *   R e a l i t y n0rKa00i _ i n n0{ @ l i n k   N y A R R e a l i t y S o u r c e } 0CQk00000020~0Y00
 
 	           *   s(Wn0fe000o0NNn00g0Y00
 
 	           *   0 . |Ts0QU000T0h0k00000000000K00U n k n o w n 000000ubY000
 
 	           *   1 .  N[BfUcIc
Nj0K n o w n , U n k n o w n 00000o00d e a d 00000x0yRY000
 
 	           *   2 . k n o w n 00000o0 gen0rKa0}cY000
 
 	           *   3 . d e a d 00000o0!kn0|Ts0QW0g0	UcIc[aK00JRdY000
 
 	           *   K n o w n 00000L0UcIc
Nk0j0c0_0Bfn0R\Oo00NNn00g0Y00
 
 	           *   4 . [ *g[ň] UcIc
Nj000000n0N,nh0yR
 
 	           *   @ p a r a m   i _ i n 
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p u b l i c   v o i d   p r o g r e s s ( N y A R R e a l i t y S o u r c e   i _ i n ) 
 
 	         { 
 
 	 	         / / t r a c k e r 2L
 
 	 	         t h i s . _ t r a c k e r . p r o g r e s s ( i _ i n . m a k e T r a c k S o u r c e ( ) ) ; 
 
         	 	 
 
 	 	         / / 0000W0f0j0D0r e c t 000001 PcW0f0u n k n o w n 00000k0eQR
 
 	 	         N y A R T a r g e t   t t = f i n d E m p t y T a g I t e m ( t h i s . _ t r a c k e r . _ t a r g e t s ) ; 
 
 	 	         i f ( t t ! = n u l l ) { 
 
 	 	 	         t h i s . a d d U n k n o w n T a r g e t ( t t ) ; 
 
 	 	         } 
 
 	 	         / / 000n0000000
 
 	 	         u p d a t e L i s t s ( ) ; 
 
 	 	         / / 000n00000000
 
 	 	         u p g r a d e L i s t s ( ) ; 
 
 	 	         r e t u r n ; 
 
 	         } 
 
 	         / * * 
 
 	           *   R e a l i t y 00000000n0hQf0n0v0feW0~0Y00S0n0peQg0o00000 }n0Xno0B00~0[000
 
 	           *   { @ l i n k   # p r o g r e s s } n000peg0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p r i v a t e   v o i d   u p g r a d e L i s t s ( ) 
 
 	         { 
 
 	 	         N y A R R e a l i t y T a r g e t [ ]   r t _ a r r a y = t h i s . t a r g e t . g e t A r r a y ( ) ; 
 
 	 	         f o r ( i n t   i = t h i s . t a r g e t . g e t L e n g t h ( ) - 1 ; i > = 0 ; i - - ) 
 
 	 	         { 
 
 	 	 	         s w i t c h ( r t _ a r r a y [ i ] . _ t a r g e t _ t y p e ) 
 
 	 	 	         { 
 
 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ D E A D : 
 
 	 	 	 	         / / d e a d 00000n0JRd
 
 	 	 	 	         t h i s . d e l e t e T a r g e t ( i ) ; 
 
 	 	 	 	         c o n t i n u e ; 
 
 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ K N O W N : 
 
 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ U N K N O W N : 
 
 	 	 	 	         / / K N O W N h0U N K N O W N o00uX[0000W0f00{k0g0_00d e a d 00000x00R{k0g0_0n0_0^_j0\O0h0M0o00S0n0D0X0O000
 
 	 	 	 	         i f ( ! i s T a r g e t A l i v e ( r t _ a r r a y [ i ] ) ) { 
 
 	 	 	 	 	         t h i s . c h a n g e T a r g e t T o D e a d ( r t _ a r r a y [ i ] ) ; 
 
 	 	 	 	         } 
 
 	 	 	 	         c o n t i n u e ; 
 
 	 	 	         d e f a u l t : 
 
 	 	 	 	         t h r o w   n e w   N y A R E x c e p t i o n ( ) ; 
 
 	 	 	         } 
 
 	 	         } 
 
 	         } 
 
 	         / * * 
 
 	           *   R e a l i t y 00000000n0hQf0n0vn00000000Qt0LD0~0Y00S0n0peQg0000 }n0R{/ n{/ .z%R	YfQt0LD0~0Y00
 
 	           *   { @ l i n k   # p r o g r e s s } n000peg0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n 
 
 	           * / 
 
 	         p r i v a t e   v o i d   u p d a t e L i s t s ( ) 
 
 	         { 
 
 	 	         N y A R R e a l i t y T a r g e t [ ]   r t _ a r r a y = t h i s . t a r g e t . g e t A r r a y ( ) ; 
 
         	 	 
 
 	 	         f o r ( i n t   i = t h i s . t a r g e t . g e t L e n g t h ( ) - 1 ; i > = 0 ; i - - ) { 
 
 	 	 	         N y A R R e a l i t y T a r g e t   t a r = r t _ a r r a y [ i ] ; 
 
 	 	 	         i f ( t a r . _ r e f _ t r a c k t a r g e t . _ d e l a y _ t i c k = = 0 ) { 
 
 	 	 	 	         / / 3 0 f p s MR_g01 yn0Xsh0Y000
 
 	 	 	 	         t a r . g r a b _ r a t e + = 3 ; 
 
 	 	 	 	         i f ( t a r . g r a b _ r a t e > 1 0 0 ) { t a r . g r a b _ r a t e = 1 0 0 ; } 
 
 	 	 	 	         s w i t c h ( t a r . _ t a r g e t _ t y p e ) 
 
 	 	 	 	         { 
 
 	 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ D E A D : 
 
 	 	 	 	 	         / / UO0W0j0D0
 
 	 	 	 	 	         c o n t i n u e ; 
 
 	 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ K N O W N : 
 
 	 	 	 	 	         / / wb_^j{
 
 	 	 	 	 	         s e t S q u a r e ( ( ( N y A R R e c t T a r g e t S t a t u s ) ( t a r . _ r e f _ t r a c k t a r g e t . _ r e f _ s t a t u s ) ) . v e r t e x , t a r . _ s c r e e n _ s q u a r e ) ; 
 
 	 	 	 	 	         / / 3 d ^j{
 
         / / 	 	 	 	 	 t h i s . _ t r a n s m a t . t r a n s M a t ( t a r . _ s c r e e n _ s q u a r e , t a r . _ o f f s e t , t a r . _ t r a n s f o r m _ m a t r i x ) ; 
 
                                                 t h i s . _ t r a n s m a t . t r a n s M a t C o n t i n u e ( t a r . _ s c r e e n _ s q u a r e ,   t a r . _ o f f s e t ,   t a r . _ t r a n s f o r m _ m a t r i x ,   t a r . _ r e s u l t _ p a r a m . l a s t _ e r r o r ,   t a r . _ t r a n s f o r m _ m a t r i x ,   t a r . _ r e s u l t _ p a r a m ) ; 
 
                                                 c o n t i n u e ; 
 
 	 	 	 	         c a s e   N y A R R e a l i t y T a r g e t . R T _ U N K N O W N : 
 
 	 	 	 	 	         c o n t i n u e ; 
 
 	 	 	 	         d e f a u l t : 
 
                                                 b r e a k ; 
 
 	 	 	 	         } 
 
 	 	 	         } e l s e { 
 
 	 	 	 	         / / fe000W0f0܈000n0Q{( m\0f08 g0rR0) 
 
 	 	 	 	         t a r . g r a b _ r a t e = t a r . g r a b _ r a t e - ( 3 * t a r . _ r e f _ t r a c k t a r g e t . _ d e l a y _ t i c k ) ; 
 
 	 	 	 	         i f ( t a r . g r a b _ r a t e < 0 ) { t a r . g r a b _ r a t e = 0 ; } 
 
 	 	 	         } 
 
 	 	         } 
 
 	         } 
 
 	         p r i v a t e   N y A R L i n e a r   _ _ t m p _ l = n e w   N y A R L i n e a r ( ) ; 
 
 
 
 
 
 	         / * * 
 
 	           *   p0000N y A R S q u a r e k0000Y00peg0Y00
 
 	           *   RgMOn000k0o0O0j0D0S0h00
 
 	           *   @ p a r a m   i _ v x 
 
 	           *   @ p a r a m   i _ s 
 
 	           * / 
 
 	         p r i v a t e   v o i d   s e t S q u a r e ( N y A R D o u b l e P o i n t 2 d [ ]   i _ v x , N y A R S q u a r e   i _ s ) 
 
 	         { 	 	 
 
 	 	         N y A R L i n e a r   l = t h i s . _ _ t m p _ l ; 
 
 	 	         / / }R0s^nS0000L0YD00000OF0Bfo0}Rn0s^nS0{00h0o0OD0_0O0j0D00	
 
 	 	         f o r ( i n t   i = 3 ; i > = 0 ; i - - ) { 
 
 	 	 	         i _ s . s q v e r t e x [ i ] . s e t V a l u e ( i _ v x [ i ] ) ; 
 
 	 	 	         l . m a k e L i n e a r W i t h N o r m a l i z e ( i _ v x [ i ] ,   i _ v x [ ( i + 1 ) % 4 ] ) ; 
 
 	 	 	         i _ s . l i n e [ i ] . a = i _ s . l i n e [ i ] . a * 0 . 6 + l . a * 0 . 4 ; 
 
 	 	 	         i _ s . l i n e [ i ] . b = i _ s . l i n e [ i ] . b * 0 . 6 + l . b * 0 . 4 ; 
 
 	 	 	         i _ s . l i n e [ i ] . c = i _ s . l i n e [ i ] . c * 0 . 6 + l . c * 0 . 4 ; 
 
 	 	         } 
 
         	 	 
 
 	 	         f o r ( i n t   i = 3 ; i > = 0 ; i - - ) { 
 
 	 	 	         i _ s . l i n e [ i ] . c r o s s P o s ( i _ s . l i n e [ ( i + 3 ) % 4 ] , i _ s . s q v e r t e x [ i ] ) ; 
 
 	 	         } 	 
 
 	         } 
 
 	         / * * 
 
 	           *   U n k n o w n / K n o w n 0}cg0M00agN0fM0~0Y00
 
 	           *   @ p a r a m   i _ t a r g e t 
 
 	           *   @ r e t u r n 
 
 	           * / 
 
                 p r i v a t e   b o o l   i s T a r g e t A l i v e ( N y A R R e a l i t y T a r g e t   i _ t a r g e t ) 
 
 	         { 
 
 	 	         r e t u r n   i _ t a r g e t . _ r e f _ t r a c k t a r g e t . _ s t _ t y p e = = N y A R T a r g e t S t a t u s . S T _ R E C T ; 
 
 	         } 
 
         	 
 
 	         / * * 
 
 	           *   000000000000K000t a g L0N U L L n0{ @ l i n k   N y A R T a r g e t S t a t u s # S T _ R E C T } 00000cW0f0ԏW0~0Y00
 
 	           *   @ r e t u r n 
 
 	           * / 
 
 	         p r i v a t e   s t a t i c   N y A R T a r g e t   f i n d E m p t y T a g I t e m ( N y A R T a r g e t L i s t   i _ l i s t ) 
 
 	         { 
 
 	 	         N y A R T a r g e t [ ]   i t e m s = i _ l i s t . g e t A r r a y ( ) ; 
 
 	 	         f o r ( i n t   i = i _ l i s t . g e t L e n g t h ( ) - 1 ; i > = 0 ; i - - ) { 
 
 	 	 	         i f ( i t e m s [ i ] . _ s t _ t y p e ! = N y A R T a r g e t S t a t u s . S T _ R E C T ) { 
 
 	 	 	 	         c o n t i n u e ; 
 
 	 	 	         } 
 
 	 	 	         i f ( i t e m s [ i ] . t a g ! = n u l l ) { 
 
 	 	 	 	         c o n t i n u e ; 
 
 	 	 	         } 
 
 	 	 	         r e t u r n   i t e m s [ i ] ; 
 
 	 	         } 
 
 	 	         r e t u r n   n u l l ; 
 
 	         } 
 
 	         / / R e a l i t y T a r g e t n0}Ɩpe
 
 
 
 	         / * * 
 
 	           *   R e a l i t y 00000000x0eW0D0{ @ l i n k   N y A R R e a l i t y T a r g e t } 0RY000
 
 	           *   @ p a r a m   i _ t r a c k _ t a r g e t 
 
 	           *   U n k n o w n T a r g e t k0#NQ00{ @ l i n k   N y A R T a r g e t } . S0n000000o00{ @ l i n k   N y A R T a r g e t S t a t u s # S T _ R E C T } g0B00S0h0
 
 	           * / 
 
 	         p r i v a t e   N y A R R e a l i t y T a r g e t   a d d U n k n o w n T a r g e t ( N y A R T a r g e t   i _ t r a c k _ t a r g e t ) 
 
 	         { 
 
                         D e b u g . A s s e r t ( i _ t r a c k _ t a r g e t . _ s t _ t y p e   = =   N y A R T a r g e t S t a t u s . S T _ R E C T ) ; 
 
 	 	         N y A R R e a l i t y T a r g e t   r t = t h i s . _ p o o l . n e w N e w T a r g e t ( i _ t r a c k _ t a r g e t ) ; 
 
 	 	         i f ( r t = = n u l l ) { 
 
 	 	 	         r e t u r n   n u l l ; 
 
 	 	         } 
 
 	 	         / / Ppe6RP
 
 	 	         i f ( t h i s . _ n u m b e r _ o f _ u n k n o w n > = t h i s . M A X _ L I M I T _ U N K N O W N ) 
 
 	 	         { 
 
 	 	 	         r e t u r n   n u l l ; 
 
 	 	         } 
 
 	 	         r t . _ t a r g e t _ t y p e = N y A R R e a l i t y T a r g e t . R T _ U N K N O W N ; 
 
 	 	         t h i s . t a r g e t . p u s h A s s e r t ( r t ) ; 
 
 	 	         t h i s . _ n u m b e r _ o f _ u n k n o w n + + ; 
 
 	 	         r e t u r n   r t ; 
 
 	         } 
 
 	         / * * 
 
 	           *   R e a l i t y 00000000K00c[W0_000000juSn0000000JRdW0~0Y00
 
 	           *   @ p a r a m   i _ i n d e x 
 
 	           * / 
 
 	         p r i v a t e   v o i d   d e l e t e T a r g e t ( i n t   i _ i n d e x ) 
 
 	         { 
 
 	 	         / / JRdg0M00n0o0d e a d 00000`0Q0
 
                         D e b u g . A s s e r t ( t h i s . t a r g e t . g e t I t e m ( i _ i n d e x ) . _ t a r g e t _ t y p e   = =   N y A R R e a l i t y T a r g e t . R T _ D E A D ) ; 
 
 	 	         / / p o o l K00>eW0f0000K00JRd
 
 	 	         t h i s . t a r g e t . g e t I t e m ( i _ i n d e x ) . r e l e a s e O b j e c t ( ) ; 
 
 	 	         t h i s . t a r g e t . r e m o v e I g n o r e O r d e r ( i _ i n d e x ) ; 
 
 	 	         t h i s . _ n u m b e r _ o f _ d e a d - - ; 
 
 	         } 
 
         	 
 
 	         / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / 
 
 	         / / P u b l i c : 
 
 	         / / R e a l i t y T a r g e t n0d\Ope
 
 	         / / 
 
 	         / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / 
 
 
 
 	         / * * 
 
 	           *   c[W0_00000000U n k n o w n 00000K00K n o w n 00000x0wyU0[0~0Y00
 
 	           *   @ p a r a m   i _ i t e m 
 
 	           *   yRY0000000
 
 	           *   @ p a r a m   i _ d i r 
 
 	           *   00000n0NPwX0A R T o o l k i t n0d i r e c t i o n g0i0n0eMOg0B00K00:yY0$P
 
 	           *   @ p a r a m   i _ m a r k e r _ s i z e 
 
 	           *   00000n0NPwX00000n0ؚU0/ E^L0D0O00g0B00K00:yY0$P[ m m XSMO] 
 
 	           *   @ r e t u r n 
 
 	           *   bRY00h0t r u e 0ԏW0~0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n   
 
 	           * / 
 
                 p u b l i c   b o o l   c h a n g e T a r g e t T o K n o w n ( N y A R R e a l i t y T a r g e t   i _ i t e m ,   i n t   i _ d i r ,   d o u b l e   i _ m a r k e r _ s i z e ) 
 
 	         { 
 
 	 	         r e t u r n   c h a n g e T a r g e t T o K n o w n ( i _ i t e m , i _ d i r , i _ m a r k e r _ s i z e , i _ m a r k e r _ s i z e ) ; 
 
 	         } 
 
         	 
 
 
 
 	         / * * 
 
 	           *   c[W0_00000000U n k n o w n 00000K00K n o w n 00000x0wyU0[0~0Y00
 
 	           *   @ p a r a m   i _ i t e m 
 
 	           *   yRY0000000
 
 	           *   @ p a r a m   i _ d i r 
 
 	           *   00000n0NPwX0A R T o o l k i t n0d i r e c t i o n g0i0n0eMOg0B00K00:yY0$P
 
 	           *   @ p a r a m   i _ m a r k e r _ w i d t h 
 
 	           *   00000n0NPwX00000n0ؚU0L0D0O00g0B00K00:yY0$P[ m m XSMO] 
 
 	           *   @ p a r a m   i _ m a r k e r _ h e i g h t 
 
 	           *   00000n0NPwX00000n0E^L0D0O00g0B00K00:yY0$P[ m m XSMO] 
 
 	           *   @ r e t u r n 
 
 	           *   bRY00h0t r u e 0ԏW0~0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n   
 
 	           * / 
 
                 p u b l i c   b o o l   c h a n g e T a r g e t T o K n o w n ( N y A R R e a l i t y T a r g e t   i _ i t e m ,   i n t   i _ d i r ,   d o u b l e   i _ m a r k e r _ w i d t h ,   d o u b l e   i _ m a r k e r _ h e i g h t ) 
 
 	         { 
 
 	 	         / / wyCQ6RP
 
 	 	         i f ( i _ i t e m . _ t a r g e t _ t y p e ! = N y A R R e a l i t y T a r g e t . R T _ U N K N O W N ) { 
 
 	 	 	         r e t u r n   f a l s e ; 
 
 	 	         } 
 
 	 	         / / 000006RP
 
 	 	         i f ( i _ i t e m . _ r e f _ t r a c k t a r g e t . _ s t _ t y p e ! = N y A R T a r g e t S t a t u s . S T _ R E C T ) { 
 
 	 	 	         r e t u r n   f a l s e ; 
 
 	 	         } 
 
 	 	         / / Ppe6RP
 
 	 	         i f ( t h i s . _ n u m b e r _ o f _ k n o w n > = t h i s . M A X _ L I M I T _ K N O W N ) 
 
 	 	         { 
 
 	 	 	         r e t u r n   f a l s e ; 
 
 	 	         } 
 
 	 	         / / 000006RP
 
 	 	         i _ i t e m . _ t a r g e t _ t y p e = N y A R R e a l i t y T a r g e t . R T _ K N O W N ; 
 
         	 	 
 
 	 	         / / 000n00000zl0f0J0O00
 
 	 	         i _ i t e m . _ o f f s e t . s e t S q u a r e ( i _ m a r k e r _ w i d t h , i _ m a r k e r _ h e i g h t ) ; 
 
         	 	 
 
 	 	         / / d i r e c t i o n k0_X0f00CQwb_n0r e c t 0VW0f0J0O00
 
 	 	         ( ( N y A R R e c t T a r g e t S t a t u s ) ( i _ i t e m . _ r e f _ t r a c k t a r g e t . _ r e f _ s t a t u s ) ) . s h i f t B y A r t k D i r e c t i o n ( ( 4 - i _ d i r ) % 4 ) ; 	 	 
 
 	 	         / / wb_000
 
 	 	         N y A R D o u b l e P o i n t 2 d [ ]   v x = ( ( N y A R R e c t T a r g e t S t a t u s ) ( i _ i t e m . _ r e f _ t r a c k t a r g e t . _ r e f _ s t a t u s ) ) . v e r t e x ; 
 
 	 	         f o r ( i n t   i = 3 ; i > = 0 ; i - - ) { 
 
 	 	 	         i _ i t e m . _ s c r e e n _ s q u a r e . s q v e r t e x [ i ] . s e t V a l u e ( v x [ i ] ) ; 
 
 	 	 	         i _ i t e m . _ s c r e e n _ s q u a r e . l i n e [ i ] . m a k e L i n e a r W i t h N o r m a l i z e ( v x [ i ] , v x [ ( i + 1 ) % 4 ] ) ; 
 
 	 	         } 
 
                         / / 3 d ^j{
 
                         i f   ( ! t h i s . _ t r a n s m a t . t r a n s M a t ( i _ i t e m . _ s c r e e n _ s q u a r e ,   i _ i t e m . _ o f f s e t ,   i _ i t e m . _ t r a n s f o r m _ m a t r i x ,   i _ i t e m . _ r e s u l t _ p a r a m ) ) 
 
                         { 
 
                                 r e t u r n   f a l s e ; 
 
                         } 
 
         	 	 
 
 	 	         / / pen0te
 
 	 	         t h i s . _ n u m b e r _ o f _ u n k n o w n - - ; 
 
 	 	         t h i s . _ n u m b e r _ o f _ k n o w n + + ; 
 
 	 	         r e t u r n   t r u e ; 
 
 	         } 
 
 	         / * * 
 
 	           *   c[W0_0K n o w n , ~0_0o0U n k n o w n 00000005 0 0000n0D e a d 00000k0W0~0Y00
 
 	           *   D e a d 00000o0!kVn00000g0R e a l i t y 00000000K00JRdU000 N[n00000gn00000K00!qU00~0Y00
 
 	           *   @ p a r a m   i _ i t e m 
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n   
 
 	           * / 	 
 
 	         p u b l i c   v o i d   c h a n g e T a r g e t T o D e a d ( N y A R R e a l i t y T a r g e t   i _ i t e m ) 
 
 	         { 
 
 	 	         c h a n g e T a r g e t T o D e a d ( i _ i t e m , 5 0 ) ; 
 
 	         } 
 
         	 
 
 	         / * * 
 
 	           *   c[W0_0K n o w n , ~0_0o0U n k n o w n 0000000D e a d 00000k0W0~0Y00
 
 	           *   D e a d 00000o0!kVn00000g0R e a l i t y 00000000K00JRdU000 N[n00000gn00000K00!qU00~0Y00
 
 	           *   @ p a r a m   i _ i t e m 
 
 	           *   @ p a r a m   i _ d e a d _ c y c l e 
 
 	           *   !qY0000000c[W0~0Y001 0000o01 0000g0Y0000000o05 0 g0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n   
 
 	           * / 
 
 	         p u b l i c   v o i d   c h a n g e T a r g e t T o D e a d ( N y A R R e a l i t y T a r g e t   i _ i t e m , i n t   i _ d e a d _ c y c l e ) 
 
 	         { 
 
                         D e b u g . A s s e r t ( i _ i t e m . _ t a r g e t _ t y p e   = =   N y A R R e a l i t y T a r g e t . R T _ U N K N O W N   | |   i _ i t e m . _ t a r g e t _ t y p e   = =   N y A R R e a l i t y T a r g e t . R T _ K N O W N ) ; 
 
 	 	         / / I G iQW0f0wyW0_04XT
 
 	 	         i f ( i _ i t e m . _ r e f _ t r a c k t a r g e t . _ s t _ t y p e ! = N y A R T a r g e t S t a t u s . S T _ I G N O R E ) { 
 
 	 	 	         / / @b	gY00000000000L0I G N O R E k0-[
 
 	 	 	         t h i s . _ t r a c k e r . c h a n g e S t a t u s T o I g n o r e ( i _ i t e m . _ r e f _ t r a c k t a r g e t , i _ d e a d _ c y c l e ) ; 
 
 	 	         } 
 
 	 	         / / pen0te
 
 	 	         i f ( i _ i t e m . _ t a r g e t _ t y p e = = N y A R R e a l i t y T a r g e t . R T _ U N K N O W N ) { 
 
 	 	 	         t h i s . _ n u m b e r _ o f _ u n k n o w n - - ; 
 
 	 	         } e l s e { 
 
 	 	 	         t h i s . _ n u m b e r _ o f _ k n o w n - - ; 
 
 	 	         } 
 
 	 	         i _ i t e m . _ t a r g e t _ t y p e = N y A R R e a l i t y T a r g e t . R T _ D E A D ; 
 
 	 	         t h i s . _ n u m b e r _ o f _ d e a d + + ; 
 
 	 	         r e t u r n ; 
 
 	         } 
 
 	         / * * 
 
 	           *   c[W0_00000juSn0U n k n o w n 0000000K n o w n 00000x0yRW0~0Y00
 
 	           *   @ p a r a m   i _ s e r i a l 
 
 	           *   00000n00000juS0:yY0$P
 
 	           *   @ p a r a m   i _ d i r 
 
 	           *   00000n0NPwX0A R T o o l k i t n0d i r e c t i o n g0i0n0eMOg0B00K00:yY0$P
 
 	           *   @ p a r a m   i _ m a r k e r _ w i d t h 
 
 	           *   00000n0NPwX00000n0000L0D0O00g0B00K00:yY0$P[ m m XSMO] 
 
 	           *   @ r e t u r n 
 
 	           *   bRY00h00t r u e 0ԏW0~0Y00
 
 	           *   @ t h r o w s   N y A R E x c e p t i o n   
 
 	           * / 
 
                 p u b l i c   b o o l   c h a n g e T a r g e t T o K n o w n B y S e r i a l ( l o n g   i _ s e r i a l ,   i n t   i _ d i r ,   d o u b l e   i _ m a r k e r _ w i d t h ) 
 
 	         { 
 
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 
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 
 	 	         N y A R R e a l i t y T a r g e t   i t e m = t h i s . t a r g e t . g e t I t e m B y S e r i a l ( i _ s e r i a l ) ; 
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 	           *   P}g0<h
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 
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 	           *   P}g0<h
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 
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 
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 	         p u b l i c   N y A R R e a l i t y T a r g e t   s e l e c t S i n g l e U n k n o w n T a r g e t ( ) 
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 
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 
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 
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 
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 
                 p u b l i c   b o o l   g e t R g b P a t t 3 d ( N y A R R e a l i t y S o u r c e   i _ s r c ,   N y A R D o u b l e P o i n t 3 d [ ]   i _ v e r t e x ,   N y A R D o u b l e M a t r i x 4 4   i _ m a t r i x ,   i n t   i _ r e s o l u t i o n ,   I N y A R R g b R a s t e r   o _ r a s t e r ) 
 
 	         { 
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 	 	 	 	         i _ m a t r i x . t r a n s f o r m 3 d ( i _ v e r t e x [ i ] , v 3 d ) ; 
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 	 	 	         f o r ( i n t   i = 3 ; i > = 0 ; i - - ) { 
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 	 	 	 	         t h i s . _ r e f _ p r j m a t . p r o j e c t ( i _ v e r t e x [ i ] , v x [ i ] ) ; 
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                         r e t u r n   i _ s r c . r e f P e r s p e c t i v e R a s t e r R e a d e r ( ) . c o p y P a t t ( v x ,   0 ,   0 ,   i _ r e s o l u t i o n ,   o _ r a s t e r ) ; 
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