private int OctileDistanceToEndEps(IntVec3 cell)
{
int dx = Mathf.Abs(cell.x - this.endCell.x);
int dz = Mathf.Abs(cell.z - this.endCell.z);
return(GenMath.OctileDistance(dx, dz, 2, 3));
}
protected virtual int Heuristic(CellRef cell)
{
int dx = Math.Abs(cell.Cell.x - destCell.Cell.x);
int dz = Math.Abs(cell.Cell.z - destCell.Cell.z);
return(GenMath.OctileDistance(dx, dz, moveTicksCardinal, moveTicksDiagonal));
}
// === Utility methods ===
/// <summary>
/// Calculates the shortest octile distance between two cells
/// </summary>
/// <returns>The distance between the cells.</returns>
/// <param name="cellA">First cell.</param>
/// <param name="cellB">Second cell.</param>
private int DistanceBetween(IntVec3 cellA, IntVec3 cellB)
{
int dx = Math.Abs(cellA.x - cellB.x);
int dz = Math.Abs(cellA.z - cellB.z);
return(GenMath.OctileDistance(dx, dz, moveTicksCardinal, moveTicksDiagonal));
}
private int OctileDistanceToEnd(IntVec3 cell)
{
int dx = Mathf.Abs(cell.x - this.endCell.x);
int dz = Mathf.Abs(cell.z - this.endCell.z);
return(GenMath.OctileDistance(dx, dz, this.moveTicksCardinal, this.moveTicksDiagonal));
}
public void Reclaim(IntVec3 current, int currentIndx, LocalTargetInfo destination, int costPerMoveDiagonal, int costPerMoveCardinal, int runId)
{
this.current = current;
this.currentIndx = currentIndx;
this.closed = false;
this.runId = runId;
this.costToReachThis = 0;
this.predecessor = null;
estimatedCostsToDestination = GenMath.OctileDistance(Math.Abs(destination.Cell.x - current.x), Math.Abs(destination.Cell.z - current.z), costPerMoveCardinal, costPerMoveDiagonal);
}
private int OctileDistance(int dx, int dz)
{
return(GenMath.OctileDistance(dx, dz, this.moveTicksCardinal, this.moveTicksDiagonal));
}
//public static FastPriorityQueue<CostNode2> openList = new FastPriorityQueue<CostNode2>(new CostNodeComparer2());
//public static PathFinderNodeFast[] calcGrid = new PathFinderNodeFast[40000];
//public static ushort statusOpenValue = 1;
//public static ushort statusClosedValue = 2;
public static bool FindPath(PathFinder __instance, ref PawnPath __result, IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
FastPriorityQueue <CostNode2> openList = getOpenList();
ushort statusOpenValue = getOpenValue();
ushort statusClosedValue = getClosedValue();
PathFinderNodeFast[] calcGrid = getCalcGrid(__instance);
RegionCostCalculatorWrapper regionCostCalculator = getRegionCostCalculatorWrapper(__instance);
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != mapField(__instance))
{
Log.Error(string.Concat("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=", pawn, " pawn.Map=", pawn.Map, " map=", mapField(__instance)));
__result = PawnPath.NotFound;
return(false);
}
if (!start.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid start ", start, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid dest ", dest, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
__result = PawnPath.NotFound;
return(false);
}
}
else if (!mapField(__instance).reachability.CanReach(start, dest, peMode, traverseParms))
{
__result = PawnPath.NotFound;
return(false);
}
PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndicesField(__instance) = mapField(__instance).cellIndices;
pathGridField(__instance) = mapField(__instance).pathGrid;
edificeGridField(__instance) = mapField(__instance).edificeGrid.InnerArray;
blueprintGridField(__instance) = mapField(__instance).blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndicesField(__instance).CellToIndex(start);
int num = cellIndicesField(__instance).CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect destinationRect = CalculateDestinationRect(dest, peMode);
bool flag4 = destinationRect.Width == 1 && destinationRect.Height == 1;
int[] array = mapField(__instance).pathGrid.pathGrid;
TerrainDef[] topGrid = mapField(__instance).terrainGrid.topGrid;
EdificeGrid edificeGrid = mapField(__instance).edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = !flag && start.GetRegion(mapField(__instance)) != null && flag2;
bool flag7 = !flag || !flag3;
bool flag8 = false;
bool flag9 = pawn?.Drafted ?? false;
int num4 = (pawn?.IsColonist ?? false) ? 100000 : 2000;
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
CalculateAndAddDisallowedCorners2(disallowedCornerIndicesField(__instance), mapField(__instance), peMode, destinationRect);
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = (pawn != null && pawn.CurJob != null) ? pawn.CurJob.ToString() : "null";
string text2 = (pawn != null && pawn.Faction != null) ? pawn.Faction.ToString() : "null";
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " ran out of cells to process.\nJob:", text, "\nFaction: ", text2));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
num5 += openList.Count;
num6++;
CostNode2 costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndicesField(__instance).IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result;
return(false);
}
}
else if (destinationRect.Contains(c) && !disallowedCornerIndicesField(__instance).Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result2;
return(false);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 >= mapSizeXField(__instance) || num11 >= mapSizeZField(__instance))
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndicesField(__instance).CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
int num15 = 0;
bool flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(mapField(__instance)).HasTag("Water"))
{
continue;
}
if (!pathGridField(__instance).WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !PathFinder.IsDestroyable(building))
{
continue;
}
num15 += (int)(building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = (i > 3) ? num9 : num8;
num16 += num15;
if (!flag10)
{
num16 += array[num14];
num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = edificeGridField(__instance)[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGridField(__instance)[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
continue;
}
}
if (flag8)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate(num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat("Heuristic cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce(string.Concat("Node cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode2(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(destinationRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndicesField(__instance));
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
num3 = 0;
num2 = 0;
}
}
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
// NOTe: may need a new TraverseParms object
public ThingPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Thing thing = traverseParms.thing;
/*
* if (pawn != null && pawn.Map != this.map)
* {
* Log.Error(string.Concat(new object[]
* {
* "Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=",
* pawn,
* " pawn.Map=",
* pawn.Map,
* " map=",
* this.map
* }));
* return ThingPath.NotFound;
* }*/
if (!start.IsValid)
{
// TODO: thing goes here
Log.Error($"Tried to FindPath with invalid start {start}, thing = ");
return(ThingPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error($"Tried to FindPath with invalid dest {start}, thing = ");
return(ThingPath.NotFound);
}
/*if (traverseParms.mode == TraverseMode.ByPawn)
* {
* if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
* return PawnPath.NotFound;
* }
* else*/
if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(ThingPath.NotFound);
}
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
// TODO: avoidgrid
//ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool passAllDestroyableThings = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool doNotPassAllDestroyableThings = !passAllDestroyableThings;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag3 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int cellsSearched = 0;
int num4 = 0;
// TODO: allowedArea
//Area allowedArea = this.GetAllowedArea(pawn);
// TODO: ShouldCollideWithThings
//bool flag4 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool drawPaths = DebugViewSettings.drawPaths;
bool flag6 = !passAllDestroyableThings && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag7 = !passAllDestroyableThings || !doNotPassAllDestroyableThings;
bool flag8 = false;
int num5 = 0;
int num6 = 0;
float heuristicStrength = 1.75f;
//float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int ticksPerMoveCardinal;
int ticksPerMoveDiagonal;
// TODO: handle ticks per move
/*if (pawn != null)
* {
* ticksPerMoveCardinal = pawn.TicksPerMoveCardinal;
* ticksPerMoveDiagonal = pawn.TicksPerMoveDiagonal;
* }
* else*/
{
ticksPerMoveCardinal = 13;
ticksPerMoveDiagonal = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
if (this.openList.Count <= 0)
{
break;
}
num5 += this.openList.Count;
num6++;
ThingPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
// TODO: cleanup
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (drawPaths)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag3)
{
if (num == num2)
{
return(this.FinalizedPath(num));
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
return(this.FinalizedPath(num));
}
if (cellsSearched > ThingPathFinder.SearchLimit)
{
Log.Warning($"{""} pathing from {start} to {dest} hit search limit of {ThingPathFinder.SearchLimit} cells.");
return(ThingPath.NotFound);
}
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + ThingPathFinder.Directions[i]);
uint num11 = (uint)(z2 + ThingPathFinder.Directions[i + 8]);
if ((ulong)num10 < (ulong)((long)this.mapSizeX) && (ulong)num11 < (ulong)((long)this.mapSizeZ))
{
int xPos = (int)num10;
int zPos = (int)num11;
int num14 = this.cellIndices.CellToIndex(xPos, zPos);
if (this.calcGrid[num14].status != this.statusClosedValue || flag8)
{
int num15 = 0;
bool flag9 = false;
if (!this.pathGrid.WalkableFast(num14))
{
if (!passAllDestroyableThings)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(xPos, 0, zPos), 0.22f, "walk");
}
continue;
}
flag9 = true;
num15 += 60;
Building building = edificeGrid[num14];
if (building == null)
{
continue;
}
if (!PathFinder.IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.1f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
}
}
int num16 = (i <= 3) ? ticksPerMoveCardinal : ticksPerMoveDiagonal;
num16 += num15;
if (!flag9)
{
num16 += array[num14];
}
/*if (byteGrid != null)
* num16 += (int)(byteGrid[num14] * 8);*/
/*if (allowedArea != null && !allowedArea[num14])
* num16 += 600;*/
if (ThingHelper.AnyThingBlockingPathAt(new IntVec3(xPos, 0, zPos), thing))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
int buildingCost = ThingPathFinder.GetBuildingCost(building2, traverseParms, thing);
if (buildingCost == 2147483647)
{
continue;
}
num16 += buildingCost;
}
int num17 = num16 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num14].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num18 = 0;
if (status == this.statusClosedValue)
{
num18 = ticksPerMoveCardinal;
}
if (this.calcGrid[num14].knownCost <= num17 + num18)
{
continue;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag8)
{
Log.Error("GetPathCostFromDestToRegion unimplemented");
//this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * 5f);
}
else
{
int dx = Math.Abs(xPos - x);
int dz = Math.Abs(zPos - z);
int num19 = GenMath.OctileDistance(dx, dz, ticksPerMoveCardinal, ticksPerMoveDiagonal);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num19 * heuristicStrength);
}
}
int num20 = num17 + this.calcGrid[num14].heuristicCost;
this.calcGrid[num14].parentIndex = num;
this.calcGrid[num14].knownCost = num17;
this.calcGrid[num14].status = this.statusOpenValue;
this.calcGrid[num14].costNodeCost = num20;
num4++;
this.openList.Push(new ThingPathFinder.CostNode(num14, num20));
}
}
}
cellsSearched++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag6 && !flag8)
{
flag8 = true;
//this.regionCostCalculator.Init(cellRect, traverseParms, ticksPerMoveCardinal, ticksPerMoveDiagonal, null, null, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
}
}
}
//string job = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
//string faction = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
//Log.Warning($"{""} pathing from {start} to {dest} ran of cells to process.\nJob: {job}\nFaction: {faction}");
// TODO
Log.Error("Thing Pathing error!");
return(ThingPath.NotFound);
}
public (PawnPath path, bool found) FindVehiclePath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, CancellationToken token, PathEndMode peMode = PathEndMode.OnCell, bool waterPathing = false)
{
if (report)
{
Debug.Message($"{VehicleHarmony.LogLabel} MainPath for {traverseParms.pawn.LabelShort} - ThreadId: [{Thread.CurrentThread.ManagedThreadId}] TaskId: [{Task.CurrentId}]");
}
postCalculatedCells.Clear();
VehicleMapping VehicleMapping = map.GetCachedMapComponent <VehicleMapping>();
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
VehiclePawn pawn = traverseParms.pawn as VehiclePawn;
if (!pawn.IsBoat() && waterPathing)
{
Log.Error($"Set to waterPathing but {pawn.LabelShort} is not registered as a Boat. Self Correcting...");
waterPathing = false;
}
if (!(pawn is null) && pawn.Map != map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindVehiclePath for pawn which is spawned in another map. Their map PathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", map
}));
return(PawnPath.NotFound, false);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}));
return(PawnPath.NotFound, false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}));
return(PawnPath.NotFound, false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (waterPathing)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!ReachabilityUtility.CanReach(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
}
else
{
if (waterPathing)
{
if (!VehicleMapping.VehicleReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
}
cellIndices = map.cellIndices;
VehiclePathGrid = VehicleMapping.VehiclePathGrid;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = cellIndices.CellToIndex(start);
int num2 = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn is null) ? null : pawn.GetAvoidGrid(true);
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] boatsArray = VehiclePathGrid.pathGrid;
int[] vehicleArray = pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(VehicleGridsUtility.GetRegion(start, map, RegionType.Set_Passable) is null) && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = !(pawn is null) && pawn.Drafted;
bool flag11 = !(pawn is null) && !(pawn is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref num, start);
Rot8 rot = pawn.FullRotation;
int iterations = 0;
for (;;)
{
if (token.IsCancellationRequested)
{
return(PawnPath.NotFound, false);
}
iterations++;
if (openList.Count <= 0)
{
break;
}
num6 += openList.Count;
num7++;
CostNode costNode = openList.Pop();
num = costNode.index;
if (costNode.cost == calcGrid[num].costNodeCost && calcGrid[num].status != statusClosedValue)
{
IntVec3 c = cellIndices.IndexToCell(num);
IntVec3 prevCell = c;
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, calcGrid[num].knownCost / 1500f, calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(num))
{
goto Block_32;
}
if (num3 > SearchLimit)
{
goto Block_33;
}
List <IntVec3> fullRectCells = CellRect.CenteredOn(c, pawn.def.size.x, pawn.def.size.z).Where(cl2 => cl2 != c).ToList();
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + Directions[i]); //x
uint num12 = (uint)(z2 + Directions[i + 8]); //y
if (num11 < ((ulong)mapSizeX) && num12 < (ulong)(mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = cellIndices.CellToIndex(num13, num14);
IntVec3 cellToCheck = cellIndices.IndexToCell(num15);
if (VehicleMod.settings.main.fullVehiclePathing && pawn.LocationRestrictedBySize(cellToCheck))
{
goto EndPathing;
}
if (calcGrid[num15].status != statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false; //Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(map).HasTag("Water"))
{
if (waterPathing)
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
else
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
if (i > 3)
{
switch (i)
{
case 4:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
//if (Rot8.DirectionFromCells(prevCell, cellToCheck) != rot)
//{
// Log.Message("Additional Cost");
// num17 += ChangeDirectionAdditionalCost;
//}
if (!flag12 && !waterPathing)
{
//Extra Terrain costs
if (pawn.VehicleDef.properties.customTerrainCosts?.NotNullAndAny() ?? false)
{
TerrainDef currentTerrain = map.terrainGrid.TerrainAt(num15);
if (pawn.VehicleDef.properties.customTerrainCosts.ContainsKey(currentTerrain))
{
int customCost = pawn.VehicleDef.properties.customTerrainCosts[currentTerrain];
if (customCost < 0)
{
goto EndPathing;
}
num17 += customCost;
}
else
{
num17 += vehicleArray[num15];
}
}
else
{
num17 += vehicleArray[num15];
}
num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
}
if (byteGrid != null)
{
num17 += (byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && MultithreadHelper.AnyVehicleBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true) != null)
{
num17 += Cost_PawnCollision;
}
Building building2 = edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
if (blueprintGrid[num15] != null)
{
List <Blueprint> list = new List <Blueprint>(blueprintGrid[num15]);
if (!list.NullOrEmpty())
{
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
goto EndPathing;
}
num17 += num18;
}
}
int num19 = num17 + calcGrid[num].knownCost;
ushort status = calcGrid[num15].status;
//if(pawn.Props.useFullHitboxPathing)
//{
// foreach(IntVec3 fullRect in fullRectCells)
// {
// if(fullRect != cellToCheck)
// {
// num19 += calcGrid[cellIndices.CellToIndex(fullRect)].knownCost;
// Log.Message($"Cell: {fullRect} Cost: {num19}");
// if(postCalculatedCells.ContainsKey(fullRect))
// {
// postCalculatedCells[fullRect] = num19;
// }
// else
// {
// postCalculatedCells.Add(fullRect, num19);
// }
// }
// }
//}
//Only generate path costs for linear non-reverse pathing check
if (report)
{
if (postCalculatedCells.ContainsKey(cellToCheck))
{
postCalculatedCells[cellToCheck] = num19;
}
else
{
postCalculatedCells.Add(cellToCheck, num19);
}
}
if (waterPathing && !map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == statusClosedValue || status == statusOpenValue)
{
int num20 = 0;
if (status == statusClosedValue)
{
num20 = num9;
}
if (calcGrid[num15].knownCost <= num19 + num20)
{
goto EndPathing;
}
}
if (flag9)
{
calcGrid[num15].heuristicCost = waterPathing ? Mathf.RoundToInt(regionCostCalculatorSea.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4)) : Mathf.RoundToInt(regionCostCalculatorLand.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4));
if (calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for vehicle ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009);
calcGrid[num15].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + calcGrid[num15].heuristicCost;
if (num22 < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Node cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 87865822);
num22 = 0;
}
calcGrid[num15].parentIndex = num;
calcGrid[num15].knownCost = num19;
calcGrid[num15].status = statusOpenValue;
calcGrid[num15].costNodeCost = num22;
num4++;
rot = Rot8.DirectionFromCells(prevCell, cellToCheck);
openList.Push(new CostNode(num15, num22));
}
}
}
EndPathing :;
}
num3++;
calcGrid[num].status = statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
if (waterPathing)
{
regionCostCalculatorSea.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
else
{
regionCostCalculatorLand.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = ((pawn is null) || pawn.CurJob is null) ? "null" : pawn.CurJob.ToString();
string text2 = ((pawn is null) || pawn.Faction is null) ? "null" : pawn.Faction.ToString();
if (report)
{
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2,
"\niterations: ", iterations
}));
}
DebugDrawRichData();
return(PawnPath.NotFound, false);
Block_32:
PawnPath result = PawnPath.NotFound;
if (report)
{
result = FinalizedPath(num, flag9);
}
DebugDrawPathCost();
return(result, true);
Block_33:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}));
DebugDrawRichData();
return(PawnPath.NotFound, false);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != this.map)
{
Log.Error("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=" + pawn + " pawn.Map=" + pawn.Map + " map=" + this.map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + ((!dest.HasThing) ? string.Empty : (" at " + dest.Cell)));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag8 = !flag || !flag3;
bool flag9 = false;
int num5 = 0;
int num6 = 0;
float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += this.openList.Count;
num6++;
CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
continue;
}
if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
continue;
}
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)((float)this.calcGrid[num].knownCost / 1500.0), this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result2);
}
if (num3 <= 160000)
{
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + PathFinder.Directions[i]);
uint num11 = (uint)(z2 + PathFinder.Directions[i + 8]);
int num12;
int num13;
int num14;
bool flag10;
int num15;
if (num10 < this.mapSizeX && num11 < this.mapSizeZ)
{
num12 = (int)num10;
num13 = (int)num11;
num14 = this.cellIndices.CellToIndex(num12, num13);
if (this.calcGrid[num14].status == this.statusClosedValue && !flag9)
{
continue;
}
num15 = 0;
flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water"))
{
continue;
}
if (!this.pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
}
else
{
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building != null && PathFinder.IsDestroyable(building))
{
num15 += (int)((float)building.HitPoints * 0.10999999940395355);
goto IL_0749;
}
}
continue;
}
goto IL_0749;
}
continue;
IL_092b:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0b0e:
ushort status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num16 = GenMath.OctileDistance(dx, dz, num8, num9);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num16 * num7);
}
}
int num17;
int num18 = num17 + this.calcGrid[num14].heuristicCost;
this.calcGrid[num14].parentIndex = num;
this.calcGrid[num14].knownCost = num17;
this.calcGrid[num14].status = this.statusOpenValue;
this.calcGrid[num14].costNodeCost = num18;
num4++;
this.openList.Push(new CostNode(num14, num18));
continue;
IL_0803:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_09bf:
int num19 = (i <= 3) ? num8 : num9;
num19 += num15;
if (!flag10)
{
num19 += array[num14];
}
if (byteGrid != null)
{
num19 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num19 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false))
{
num19 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
continue;
}
num19 += buildingCost;
this.PfProfilerEndSample();
}
num17 = num19 + this.calcGrid[num].knownCost;
status = this.calcGrid[num14].status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
goto IL_0b0e;
}
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num8;
}
if (this.calcGrid[num14].knownCost > num17 + num20)
{
goto IL_0b0e;
}
continue;
IL_0897:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0749:
switch (i)
{
case 4:
break;
case 5:
goto IL_0803;
case 6:
goto IL_0897;
case 7:
goto IL_092b;
default:
goto IL_09bf;
}
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
continue;
}
break;
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
//public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, Pawn pawn, PathEndMode peMode = PathEndMode.OnCell)
//{
// bool flag = false;
// if (pawn != null && pawn.CurJob != null && pawn.CurJob.canBash)
// {
// flag = true;
// }
// Danger maxDanger = Danger.Deadly;
// bool canBash = flag;
// return this.FindPath(start, dest, TraverseParms.For(pawn, maxDanger, TraverseMode.ByPawn, canBash), peMode);
//}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
//Walk through Walls Mode
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
//Check if there's a pawn to path for
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath for pawn which is spawned in another map. His map CVPathFinder should have been used, not this one. pawn=",
pawn,
" pawn.Map=",
pawn.Map,
" map=",
this.map
}));
return(PawnPath.NotFound);
}
//Make sure the start is valid
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start ",
start,
", pawn= ",
pawn
}));
return(PawnPath.NotFound);
}
//Make sure the end is valid
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}));
return(PawnPath.NotFound);
}
//Check if it's possible to get to the destination
Log.Error(traverseParms.mode.ToString());
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
Log.Error("a");
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ",
pawn,
" from ",
start,
" to ",
dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag8 = !flag || !flag3;
bool flag9 = false;
int num5 = 0;
int num6 = 0;
float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
Log.Error("b");
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
Log.Error("c");
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num5 += this.openList.Count;
num6++;
CVPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
Log.Error("d");
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
Log.Error("e");
this.PfProfilerEndSample();
}
else
{
Log.Error("f");
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_27;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_29;
}
if (num3 > 160000)
{
goto Block_30;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + CVPathFinder.Directions[i]);
uint num11 = (uint)(z2 + CVPathFinder.Directions[i + 8]);
if ((ulong)num10 < (ulong)((long)this.mapSizeX) && (ulong)num11 < (ulong)((long)this.mapSizeZ))
{
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = this.cellIndices.CellToIndex(num12, num13);
if (this.calcGrid[num14].status != this.statusClosedValue || flag9)
{
int num15 = 0;
bool flag10 = false;
if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water") || (pawn.GetComp <CompVehicle>() != null && pawn.GetComp <CompVehicle>().Props.vehicleType == VehicleType.Amphibious))
{
if (!this.pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
goto IL_C2E;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null)
{
goto IL_C2E;
}
if (!CVPathFinder.IsDestroyable(building))
{
goto IL_C2E;
}
num15 += (int)((float)building.HitPoints * 0.11f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
}
}
Log.Error("g");
int num16 = (i <= 3) ? num8 : num9;
num16 += num15;
if (!flag10)
{
num16 += array[num14];
}
if (byteGrid != null)
{
num16 += (int)(byteGrid[num14] * 8);
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false))
{
num16 += 175;
}
Log.Error("h");
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = CVPathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
goto IL_C2E;
}
num16 += buildingCost;
this.PfProfilerEndSample();
}
int num17 = num16 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num14].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num18 = 0;
if (status == this.statusClosedValue)
{
num18 = num8;
}
if (this.calcGrid[num14].knownCost <= num17 + num18)
{
goto IL_C2E;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * CVPathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num19 = GenMath.OctileDistance(dx, dz, num8, num9);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num19 * num7);
}
}
int num20 = num17 + this.calcGrid[num14].heuristicCost;
this.calcGrid[num14].parentIndex = num;
this.calcGrid[num14].knownCost = num17;
this.calcGrid[num14].status = this.statusOpenValue;
this.calcGrid[num14].costNodeCost = num20;
num4++;
this.openList.Push(new CVPathFinder.CostNode(num14, num20));
}
}
}
IL_C2E :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" ran out of cells to process.\nJob:",
text,
"\nFaction: ",
text2
}));
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_27:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result);
Block_29:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result2);
Block_30:
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" hit search limit of ",
160000,
" cells."
}));
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
public PawnPath FindShipPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (!(pawn is null) && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath for pawn which is spawned in another map. his map ShipPathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!mapE.getShipReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ", pawn,
" from ", start,
" to ", dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.shipPathGrid = mapE.getShipPathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
this.blueprintGrid = this.map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn is null) ? null : pawn.GetAvoidGrid(true);
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = mapE.getShipPathGrid.pathGrid;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(WaterGridsUtility.GetRegion(start, this.map, RegionType.Set_Passable) is null) && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = !(pawn is null) && pawn.Drafted;
bool flag11 = !(pawn is null) && !(pawn.GetComp <CompShips>() is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
ShipPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > SearchLimit)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + ShipPathFinder.Directions[i]);
uint num12 = (uint)(z2 + ShipPathFinder.Directions[i + 8]);
if ((ulong)num11 < ((ulong)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
//bool flag12 = false; Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.shipPathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_E3A;
}
//flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto IL_E3A;
}
if (!IsDestroyable(building))
{
goto IL_E3A;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
/*if(!flag12)
* {
* //Extra Costs for traversing water
* num17 += array[num15];
* num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
* }*/
if (!(byteGrid is null))
{
num17 += (int)(byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += Cost_PawnCollision;
}
Building building2 = this.edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
List <Blueprint> list = this.blueprintGrid[num15];
if (!(list is null))
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
this.PfProfilerEndSample();
goto IL_E3A;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (!(pawn.GetComp <CompShips>() is null) && !this.map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_E3A;
}
}
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) *
ShipPathFinder.RegionheuristicWeighByNodesOpened.Evaluate((float)num4));
if (this.calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009, false);
this.calcGrid[num15].heuristicCost = 0;
}
}
else if (status != this.statusClosedValue && status != this.statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
//Log.Message("Num19: " + num19 + " || num22: " + num22);
if (num22 < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Node cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 87865822, false);
num22 = 0;
}
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new ShipPathFinder.CostNode(num15, num22));
}
}
}
IL_E3A :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10,
this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = ((pawn is null) || pawn.CurJob is null) ? "null" : pawn.CurJob.ToString();
string text2 = ((pawn is null) || pawn.Faction is null) ? "null" : pawn.Faction.ToString();
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=",
pawn,
" pawn.Map=",
pawn.Map,
" map=",
this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start ",
start,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ",
pawn,
" from ",
start,
" to ",
dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
this.blueprintGrid = this.map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn != null && pawn.Drafted;
bool flag11 = pawn != null && pawn.IsColonist;
int num5 = (!flag11) ? 2000 : 100000;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9;
int num10;
if (pawn != null)
{
num9 = pawn.TicksPerMoveCardinal;
num10 = pawn.TicksPerMoveDiagonal;
}
else
{
num9 = 13;
num10 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
PathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > 160000)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + PathFinder.Directions[i]);
uint num12 = (uint)(z2 + PathFinder.Directions[i + 8]);
if ((ulong)num11 < (ulong)((long)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false;
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.pathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_D53;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building == null)
{
goto IL_D53;
}
if (!PathFinder.IsDestroyable(building))
{
goto IL_D53;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
if (!flag12)
{
num17 += array[num15];
if (flag10)
{
num17 += topGrid[num15].extraDraftedPerceivedPathCost;
}
else
{
num17 += topGrid[num15].extraNonDraftedPerceivedPathCost;
}
}
if (byteGrid != null)
{
num17 += (int)(byteGrid[num15] * 8);
}
if (allowedArea != null && !allowedArea[num15])
{
num17 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += 175;
}
Building building2 = this.edificeGrid[num15];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += buildingCost;
this.PfProfilerEndSample();
}
List <Blueprint> list = this.blueprintGrid[num15];
if (list != null)
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
for (int j = 0; j < list.Count; j++)
{
num18 = Mathf.Max(num18, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num18 == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_D53;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new PathFinder.CostNode(num15, num22));
}
}
}
IL_D53 :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" ran out of cells to process.\nJob:",
text,
"\nFaction: ",
text2
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" hit search limit of ",
160000,
" cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Warning(String.Format("Map object was rebuilt, but new pather was not assigned to new map (new {0}) (old {1})", pawn.Map.uniqueID, map.uniqueID));
Log.Error("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=" + pawn + " pawn.Map=" + pawn.Map + " map=" + map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + (dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = (!flag && start.GetRegion(map) != null) & flag2;
bool flag7 = !flag || !flag3;
bool flag8 = false;
bool flag9 = pawn?.Drafted ?? false;
int num4 = (pawn?.IsColonist ?? false) ? 100000 : 2000;
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
// BEGIN CHANGED SECTION
// In case pawn is null
int num8 = 13;
int num9 = 18;
Dictionary <TerrainDef, int> pawnTerrainCacheCardinal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, int> pawnTerrainCacheDiagonal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, bool> pawnSpecialMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, bool> pawnImpassibleMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, int> pawnTerrainMovementCache = new Dictionary <TerrainDef, int>();
// END CHANGED SECTION
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = (pawn != null && pawn.CurJob != null) ? pawn.CurJob.ToString() : "null";
string text2 = (pawn != null && pawn.Faction != null) ? pawn.Faction.ToString() : "null";
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result2);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 >= mapSizeX || num11 >= mapSizeZ)
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
// BEGIN CHANGED SECTION
IntVec3 targetCell = new IntVec3(num12, 0, num13);
TerrainDef targetTerrain = topGrid[num14];
if (pawn != null)
{
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnImpassibleMovementCache.TryGetValue(targetTerrain, out bool impassible))
{
impassible = pawn.kindDef.UnreachableTerrainCheck(targetTerrain);
pawnImpassibleMovementCache[targetTerrain] = impassible;
}
if (impassible)
{
// Skip this cell for pathing calculations
calcGrid[num14].status = statusClosedValue;
continue;
}
// Overwrite directional move costs
if (!pawnTerrainCacheCardinal.TryGetValue(targetTerrain, out num8))
{
num8 = pawn.TerrainAwareTicksPerMoveCardinal(targetTerrain);
pawnTerrainCacheCardinal[targetTerrain] = num8;
}
if (!pawnTerrainCacheDiagonal.TryGetValue(targetTerrain, out num9))
{
num9 = pawn.TerrainAwareTicksPerMoveDiagonal(targetTerrain);
pawnTerrainCacheDiagonal[targetTerrain] = num9;
}
}
// END CHANGED SECTION
int num15 = 0;
bool flag10 = false;
//if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
if (!flag2 && targetTerrain.HasTag("Water"))
{
continue;
}
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = (i > 3) ? num9 : num8;
num16 += num15;
if (!flag10)
{
// BEGIN CHANGED SECTION
//num16 += array[num14];
//num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
if (pawn == null)
{
num16 += array[num14];
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
else
{
// Use cache of terrain perceived cost instead of fixed pathCost grid to avoid a lot of repeated computation while maintaining accuracy
if (!pawnTerrainMovementCache.TryGetValue(targetTerrain, out int terrainMoveCost))
{
terrainMoveCost = pawn.TerrainMoveCost(targetTerrain);
pawnTerrainMovementCache[targetTerrain] = terrainMoveCost;
}
// This was really really expensive, so we opted to mod this pre-calced value
//num16 += pathGrid.TerrainCalculatedCostAt(map, pawn, targetCell, true, IntVec3.Invalid, terrainMoveCost);
num16 += pathGrid.ApplyTerrainModToCalculatedCost(targetTerrain, array[num14], terrainMoveCost);
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnSpecialMovementCache.TryGetValue(targetTerrain, out bool specialMovement))
{
specialMovement = pawn.TerrainMoveStat(targetTerrain) != StatDefOf.MoveSpeed;
pawnSpecialMovementCache[targetTerrain] = specialMovement;
}
// Skip applying the PerceivedPathCost hack if we've got a specialized speed stat for this terrain
if (!specialMovement)
{
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
}
// END CHANGED SECTION
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
//new IntVec3(num12, 0, num13) -> targetCell
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(targetCell, pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
continue;
}
}
if (flag8)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate(num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce("Heuristic cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce("Node cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
public static int OctileDistance2(RegionCostCalculator __instance, int dx, int dz)
{
return(GenMath.OctileDistance(dx, dz, moveTicksCardinalField(__instance), moveTicksDiagonalField(__instance)));
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Error("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=" + pawn + " pawn.Map=" + pawn.Map + " map=" + map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + ((!dest.HasThing) ? string.Empty : (" at " + dest.Cell)));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(map) != null && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn?.Drafted ?? false;
int num4 = (!(pawn?.IsColonist ?? false)) ? 2000 : 100000;
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
}
else if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
}
else
{
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, (float)calcGrid[curIndex].knownCost / 1500f, calcGrid[curIndex].knownCost.ToString());
}
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag9);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag9);
PfProfilerEndSample();
return(result2);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 < mapSizeX && num11 < mapSizeZ)
{
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status != statusClosedValue || flag9)
{
int num15 = 0;
bool flag11 = false;
if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
{
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
continue;
}
flag11 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
default:
{
int num16 = (i <= 3) ? num8 : num9;
num16 += num15;
if (!flag11)
{
num16 += array[num14];
num16 = ((!flag10) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
PfProfilerEndSample();
break;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, GetBlueprintCost(list[j], pawn));
}
if (num17 == 2147483647)
{
PfProfilerEndSample();
break;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
break;
}
}
if (flag9)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate((float)num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce("Heuristic cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce("Node cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode(num14, num21));
break;
}
}
}
}
}
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag7 && !flag9)
{
flag9 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag10, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
DebugDrawRichData();
PfProfilerEndSample();
return(PawnPath.NotFound);
}