private void InspectBlock(int x, int y, ref bool Found, ref bool Searching, ref AStarRec ClosestgPoint)
{
int num;
if ((x == this.Source.X) && (y == this.Source.Y))
{
num = 0;
}
else
{
num = this.Grid[x, y];
}
for (int i = 0; i <= this.Freedom; i++)
{
int num2 = x + OffSets[i].DX;
int num3 = y + OffSets[i].DY;
if ((num2 == this.Goal.X) && (num3 == this.Goal.Y))
{
Found = true;
return;
}
if (((((num2 >= 0) && (num3 >= 0)) && ((num2 < this.MaxX) && (num3 < this.MaxY))) && ((num2 != this.Source.X) || (num3 != this.Source.Y))) && (this.Grid[num2, num3] == 0))
{
int num5 = this.InspectBlockCallback(num2, num3, x, y, this.Argument);
int num4 = (num + OffSets[i].Cost) + num5;
switch (num5)
{
case -1:
break;
case 0:
Found = false;
Searching = false;
return;
default:
AStarRec rec;
this.Grid[num2, num3] = num4;
if ((Math.Abs((int)(this.Goal.X - num2)) + Math.Abs((int)(this.Goal.Y - num3))) < ClosestgPoint.w)
{
ClosestgPoint.pt.X = num2;
ClosestgPoint.pt.Y = num3;
ClosestgPoint.w = Math.Abs((int)(this.Goal.X - num2)) + Math.Abs((int)(this.Goal.Y - num3));
}
rec.pt = new Point();
rec.pt.X = num2;
rec.pt.Y = num3;
rec.w = num4;
this.AStack.Add(rec);
break;
}
}
}
}
private void LookForPath()
{
bool searching = false;
bool found = false;
AStarRec closestgPoint = new AStarRec();
closestgPoint.w = 2147483647;
do
{
if (!searching)
{
this.InspectBlock(this.Source.X, this.Source.Y, ref found, ref searching, ref closestgPoint);
searching = true;
}
else
{
if (this.AStack.Count == 0)
{
throw new Exception(string.Format("Could not calculate path from [" + this.Source.X + "," + this.Source.Y + "] to [" + this.Goal.X + "," + this.Goal.Y + "]"));
}
int index = 0;
for (int i = 0; i < this.AStack.Count; i++)
{
if (this.AStack[i].w < this.AStack[index].w)
{
index = i;
}
}
int x = this.AStack[index].pt.X;
int y = this.AStack[index].pt.Y;
int w = this.AStack[index].w;
this.AStack.RemoveAt(index);
this.InspectBlock(x, y, ref found, ref searching, ref closestgPoint);
}
}
while (!found);
}