public int2 Expand( World world, float[][ , ] passableCost )
{
var p = queue.Pop();
cellInfo[ p.Location.X, p.Location.Y ].Seen = true;
var custom2 = world.customTerrain[p.Location.X, p.Location.Y];
var thisCost = (custom2 != null)
? custom2.GetCost(p.Location, umt)
: passableCost[(int)umt][p.Location.X, p.Location.Y];
if (thisCost == float.PositiveInfinity)
return p.Location;
foreach( int2 d in directions )
{
int2 newHere = p.Location + d;
if (!world.Map.IsInMap(newHere.X, newHere.Y)) continue;
if( cellInfo[ newHere.X, newHere.Y ].Seen )
continue;
var custom = world.customTerrain[newHere.X, newHere.Y];
var costHere = (custom != null) ? custom.GetCost(newHere, umt) : passableCost[(int)umt][newHere.X, newHere.Y];
if (costHere == float.PositiveInfinity)
continue;
if (!buildingInfluence.CanMoveHere(newHere, ignoreBuilding))
continue;
// Replicate real-ra behavior of not being able to enter a cell if there is a mixture of crushable and uncrushable units
if (checkForBlocked && (unitInfluence.GetUnitsAt(newHere).Any(a => !world.IsActorPathableToCrush(a, umt))))
continue;
if (customBlock != null && customBlock(newHere))
continue;
var est = heuristic( newHere );
if( est == float.PositiveInfinity )
continue;
float cellCost = ((d.X * d.Y != 0) ? 1.414213563f : 1.0f) * costHere;
// directional bonuses for smoother flow!
if (((newHere.X & 1) == 0) && d.Y < 0) cellCost -= .1f;
else if (((newHere.X & 1) == 1) && d.Y > 0) cellCost -= .1f;
if (((newHere.Y & 1) == 0) && d.X < 0) cellCost -= .1f;
else if (((newHere.Y & 1) == 1) && d.X > 0) cellCost -= .1f;
float newCost = cellInfo[ p.Location.X, p.Location.Y ].MinCost + cellCost;
if( newCost >= cellInfo[ newHere.X, newHere.Y ].MinCost )
continue;
cellInfo[ newHere.X, newHere.Y ].Path = p.Location;
cellInfo[ newHere.X, newHere.Y ].MinCost = newCost;
queue.Add( new PathDistance( newCost + est, newHere ) );
}
return p.Location;
}
