public void AddLink(PathLink pLink)
{
List <PathLink> newLinks = links == null ? new List <PathLink>():new List <PathLink>(links);
newLinks.Add(pLink);
links = newLinks.ToArray();
}
public override void MakePreparations(Living living)
{
ComponentSelectable entityData = living.GetExactComponent <ComponentSelectable>();
Point2D start = entityData.MapLocation;
if (start != this.Destination)
{
List <PathLink> pth;
ComponentMovement movementComponent = living.GetExactComponent <ComponentMovement>();
//Handle reroute
if (movementComponent.QueuedMovement.Count > 0)
{
//Get a path to the nearest/next tile so that path finding and the screen location sync up.
PathLink previous = movementComponent.QueuedMovement.Peek();
movementComponent.QueuedMovement.Clear();
movementComponent.QueuedMovement.Enqueue(previous);
pth = MainPathFinder.GetRoute(living.Dimension, previous.Destination, this.Destination);
}
//No reroute
else
{
pth = MainPathFinder.GetRoute(living.Dimension, start, this.Destination);
}
MagicalLifeAPI.Util.Extensions.EnqueueCollection(movementComponent.QueuedMovement, pth);
ClientSendRecieve.Send <RouteCreatedMessage>(new RouteCreatedMessage(pth, living.ID, living.Dimension));
}
}
protected override void StartJob(Living living)
{
Point2D start = living.MapLocation;
if (start != this.Destination)
{
List <PathLink> pth;
//Handle reroute
if (living.QueuedMovement.Count > 0)
{
//Get a path to the nearest/next tile so that path finding and the screen location sync up.
PathLink previous = living.QueuedMovement.Peek();
living.QueuedMovement.Clear();
living.QueuedMovement.Enqueue(previous);
pth = MainPathFinder.GetRoute(living.Dimension, previous.Destination, this.Destination);
}
//No reroute
else
{
pth = MainPathFinder.GetRoute(living.Dimension, living.MapLocation, this.Destination);
}
MagicalLifeAPI.Util.Extensions.EnqueueCollection(living.QueuedMovement, pth);
ClientSendRecieve.Send <RouteCreatedMessage>(new RouteCreatedMessage(pth, living.ID, living.Dimension));
}
}
private void Move(Selectable selectable, Microsoft.Xna.Framework.Point target)
{
if (World.Dimensions[RenderingPipe.Dimension][target.X, target.Y].IsWalkable)
{
switch (selectable)
{
case Living living:
Microsoft.Xna.Framework.Point start = selectable.MapLocation;
if (start != target)
{
List <PathLink> pth;
//Handle reroute
if (living.QueuedMovement.Count > 0)
{
//Get a path to the nearest/next tile so that path finding and the screen location sync up.
PathLink previous = living.QueuedMovement.Peek();
living.QueuedMovement.Clear();
living.QueuedMovement.Enqueue(previous);
pth = MainPathFinder.GetRoute(RenderingPipe.Dimension, previous.Destination, target);
}
//No reroute
else
{
pth = MainPathFinder.GetRoute(RenderingPipe.Dimension, living.MapLocation, target);
}
Extensions.EnqueueCollection(living.QueuedMovement, pth);
ClientSendRecieve.Send <RouteCreatedMessage>(new RouteCreatedMessage(pth, living.ID, living.Dimension));
}
break;
}
}
}
public SolutionNode(SolutionNode parent, PathLink link, PathNode destination)
: this(link.destinationNode)
{
this.parent = parent;
distanceTravelled = parent.distanceTravelled + link.getCost();
distanceLeft = (pathNode.position - destination.position).Length;
}
public void InitNodeLink(PathNode node, int type)
{
int startX = (int)Mathf.Max(0, node.x - 1);
int endX = (int)Mathf.Max(m_gridZ - 1, node.x + 1);
int startY = (int)Mathf.Max(0, node.y - 1);
int endY = (int)Mathf.Max(m_gridX - 1, node.y + 1);
foreach (PathLink link in node.links)
{
link.Destroy();
}
node.links.Clear();
for (int i = startX; i < endX; i++)
{
for (int j = startY; j < endY; j++)
{
PathNode test = GetNode(i, j);
if (test == node || !test.walkable)
{
continue;
}
if (type != 2 && i != node.x && j != node.y)
{
PathNode test2 = GetNode((int)node.x, j);
if (!test2.walkable)
{
continue;
}
test2 = GetNode(i, (int)node.y);
if (!test2.walkable)
{
continue;
}
}
float cost = m_straightCost;
if (!((node.x == test.x) || (node.y == test.y)))
{
if (type == 1)
{
continue;
}
if (type == 2 && (node.x - test.x) * (node.y - test.y) == 1)
{
continue;
}
if (type == 2)
{
cost = m_straightCost;
}
else
{
cost = m_diagCost;
}
}
PathLink link = new PathLink(test, cost);
node.links.Add(link);
}
}
}
public void RemoveLink(PathLink pLink)
{
List <PathLink> newLinks = links == null ? new List <PathLink>() : new List <PathLink>(links);
newLinks.Remove(pLink);
links = newLinks.ToArray();
}
protected Project(FileInfo path)
{
if (path == null)
{
throw new ArgumentNullException("path");
}
Path = new PathLink(path);
}
public static Path CreatePath(PathLink _Link)
{
Path p = new Path();
p.m_Weight = _Link.Weight;
while (_Link != null)
{
p.m_Steps.Insert(0, _Link.Tile);
_Link = _Link.PreviousLink;
}
return(p);
}
private void ConnectNodes(PointTileNode pA, PointTileNode pB)
{
PathLink l = pB.GetLinkTo(pA);
if (l == null)
{
l = new PathLink(pA, pB);
l.distance = 1f;
pA.AddLink(l);
pB.AddLink(l);
}
}
/// <summary>
/// Moves the entity as far along on its path as possible.
/// </summary>
/// <param name="entity"></param>
public static void MoveEntity(Living entity)
{
ProtoQueue <PathLink> path = entity.QueuedMovement;
while (entity.Movement.GetValue() > 0 && path.Count > 0)
{
PathLink section = path.Peek();
Tile sourceTile = World.Data.World.Dimensions[entity.Dimension][section.Origin.X, section.Origin.Y];
Tile destinationTile = World.Data.World.Dimensions[entity.Dimension][section.Destination.X, section.Destination.Y];
Move(entity, sourceTile, destinationTile);
}
}
private void AddNode(SampleNode pA, SampleNode pB)
{
PathLink l = pB.GetLinkTo(pA);
if (l == null)
{
l = new PathLink(pA, pB);
}
l.distance = 1f;
pA.links.Add(l);
pB.links.Add(l);
}
/// <summary>
/// Moves the entity as far along on its path as possible.
/// </summary>
/// <param name="entity"></param>
public static void MoveEntity(ref Living entity)
{
Queue <PathLink> path = entity.QueuedMovement;
//MasterLog.DebugWriteLine("Creature movement speed: " + entity.Movement.GetValue().ToString());
while (entity.Movement.GetValue() > 0 && path.Count > 0)
{
PathLink section = path.Peek();
Tile sourceTile = World.World.MainWorld.Tiles[section.Origin.X, section.Origin.Y];
Tile destinationTile = World.World.MainWorld.Tiles[section.Destination.X, section.Destination.Y];
Move(ref entity, sourceTile, destinationTile);
}
}
/// <summary>
/// Moves the entity as far along on its path as possible.
/// </summary>
/// <param name="entity"></param>
public static void MoveEntity(ref Living entity)
{
ProtoQueue <PathLink> path = entity.QueuedMovement;
//MasterLog.DebugWriteLine("Creature movement speed: " + entity.Movement.GetValue().ToString());
while (entity.Movement.GetValue() > 0 && path.Count > 0)
{
PathLink section = path.Peek();//Should use a normal list, and pull from [0], queue pulls in the wrong order
Tile sourceTile = World.Data.World.Dimensions[entity.Dimension][section.Origin.X, section.Origin.Y];
Tile destinationTile = World.Data.World.Dimensions[entity.Dimension][section.Destination.X, section.Destination.Y];
Move(ref entity, sourceTile, destinationTile);
}
//MasterLog.DebugWriteLine("Tile location: " + entity.MapLocation.ToString());
}
public void ConnectPoints()
{
List <GameObject> points = GetPoints();
for (int i = 0; i < points.Count - 1; i++)
{
GameObject pointA = points[i];
GameObject pointB = points[i + 1];
GameObject newlink = new GameObject();
Image img = newlink.AddComponent <Image>() as Image;
PathLink pl = newlink.AddComponent <PathLink>() as PathLink;
newlink.transform.SetParent(linkParent.transform, false);
pl.pointA = pointA;
pl.pointB = pointB;
}
}
private void ConnectNodes(TileNode pA, TileNode pB)
{
if ((pA.type == TileType.FLOOR || pA.type == TileType.DOOR) &&
(pB.type == TileType.FLOOR || pB.type == TileType.DOOR))
{
PathLink l = pB.GetLinkTo(pA);
if (l == null)
{
l = new PathLink(pA, pB);
}
l.distance = 1f;
pA.links.Add(l);
pB.links.Add(l);
}
}
private void Move(HasComponents selectable, Point2D target)
{
if (World.Dimensions[RenderInfo.Dimension][target.X, target.Y].IsWalkable)
{
switch (selectable)
{
case Living living:
ComponentSelectable positionData = living.GetExactComponent <ComponentSelectable>();
Point2D start = positionData.MapLocation;
if (start != target)
{
List <PathLink> pth;
ComponentMovement movementComponent = living.GetExactComponent <ComponentMovement>();
//Handle reroute
if (movementComponent.QueuedMovement.Count > 0)
{
//Get a path to the nearest/next tile so that path finding and the screen location sync up.
PathLink previous = movementComponent.QueuedMovement.Peek();
movementComponent.QueuedMovement.Clear();
movementComponent.QueuedMovement.Enqueue(previous);
pth = MainPathFinder.GetRoute(RenderInfo.Dimension, previous.Destination, target);
}
//No reroute
else
{
pth = MainPathFinder.GetRoute(RenderInfo.Dimension, positionData.MapLocation, target);
}
Extensions.EnqueueCollection(movementComponent.QueuedMovement, pth);
}
break;
default:
break;
}
}
}
private void ConnectNodes(TileNode pA, TileNode pB)
{
if ((pA.type == TileType.FLOOR || pA.type == TileType.DOOR) &&
(pB.type == TileType.FLOOR || pB.type == TileType.DOOR)) {
PathLink l = pB.GetLinkTo(pA);
if (l == null) {
l = new PathLink(pA, pB);
}
l.distance = 1f;
pA.links.Add(l);
pB.links.Add(l);
}
}
private void TryQueueNewTile(PointTileNode pNewNode, PathLink pLink, AStarStack pNodesToVisit, PointTileNode pGoal)
{
PointTileNode previousNode = pLink.GetOtherNode(pNewNode);
float linkDistance = pLink.distance;
float newPathCost = previousNode.pathCostHere + pNewNode.baseCost + linkDistance;
if (pNewNode.linkLeadingHere == null || (pNewNode.pathCostHere > newPathCost)) {
pNewNode.distanceToGoal = pNewNode.DistanceTo(pGoal) * 2f;
pNewNode.pathCostHere = newPathCost;
pNewNode.linkLeadingHere = pLink;
pNodesToVisit.Push(pNewNode);
}
}
public void AddLink(PathLink pLink)
{
links.Add(pLink);
}
public void RemoveLink(PathLink pLink)
{
links.Remove(pLink);
}
public override void Process(uint seed)
{
if (World.Cached)
{
TerrainMeta.Path.DungeonRoot = HierarchyUtil.GetRoot("Dungeon");
return;
}
if (World.Networked)
{
World.Spawn("Dungeon");
TerrainMeta.Path.DungeonRoot = HierarchyUtil.GetRoot("Dungeon");
return;
}
Prefab <DungeonCell>[] array = Prefab.Load <DungeonCell>("assets/bundled/prefabs/autospawn/" + TunnelFolder);
if (array == null || array.Length == 0)
{
return;
}
Prefab <DungeonCell>[] array2 = Prefab.Load <DungeonCell>("assets/bundled/prefabs/autospawn/" + StationFolder);
if (array2 == null || array2.Length == 0)
{
return;
}
Prefab <DungeonCell>[] array3 = Prefab.Load <DungeonCell>("assets/bundled/prefabs/autospawn/" + TransitionFolder);
if (array3 == null)
{
return;
}
Prefab <DungeonLink>[] array4 = Prefab.Load <DungeonLink>("assets/bundled/prefabs/autospawn/" + LinkFolder);
if (array4 == null)
{
return;
}
array4 = array4.OrderByDescending((Prefab <DungeonLink> x) => x.Component.Priority).ToArray();
List <DungeonInfo> list = (TerrainMeta.Path ? TerrainMeta.Path.DungeonEntrances : null);
WorldSpaceGrid <Prefab <DungeonCell> > worldSpaceGrid = new WorldSpaceGrid <Prefab <DungeonCell> >(TerrainMeta.Size.x * 2f, CellSize);
int[,] array5 = new int[worldSpaceGrid.CellCount, worldSpaceGrid.CellCount];
_003C_003Ec__DisplayClass17_0 _003C_003Ec__DisplayClass17_ = default(_003C_003Ec__DisplayClass17_0);
_003C_003Ec__DisplayClass17_.hashmap = new DungeonConnectionHash[worldSpaceGrid.CellCount, worldSpaceGrid.CellCount];
_003C_003Ec__DisplayClass17_.pathFinder = new PathFinder(array5, false);
int cellCount = worldSpaceGrid.CellCount;
int num = 0;
int num2 = worldSpaceGrid.CellCount - 1;
for (int i = 0; i < cellCount; i++)
{
for (int j = 0; j < cellCount; j++)
{
array5[j, i] = 1;
}
}
List <PathSegment> list2 = new List <PathSegment>();
List <PathLink> list3 = new List <PathLink>();
List <PathNode> list4 = new List <PathNode>();
_003C_003Ec__DisplayClass17_.unconnectedNodeList = new List <PathNode>();
_003C_003Ec__DisplayClass17_.secondaryNodeList = new List <PathNode>();
List <PathFinder.Point> list5 = new List <PathFinder.Point>();
List <PathFinder.Point> list6 = new List <PathFinder.Point>();
List <PathFinder.Point> list7 = new List <PathFinder.Point>();
_003C_003Ec__DisplayClass17_1 _003C_003Ec__DisplayClass17_2 = default(_003C_003Ec__DisplayClass17_1);
_003C_003Ec__DisplayClass17_3 _003C_003Ec__DisplayClass17_3 = default(_003C_003Ec__DisplayClass17_3);
foreach (DungeonInfo item in list)
{
_003C_003Ec__DisplayClass17_2.entrance = item;
TerrainPathConnect[] componentsInChildren = _003C_003Ec__DisplayClass17_2.entrance.GetComponentsInChildren <TerrainPathConnect>(true);
foreach (TerrainPathConnect terrainPathConnect in componentsInChildren)
{
_003C_003Ec__DisplayClass17_2 CS_0024_003C_003E8__locals0 = new _003C_003Ec__DisplayClass17_2();
CS_0024_003C_003E8__locals0._003C_003E4__this = this;
if (terrainPathConnect.Type != ConnectionType)
{
continue;
}
Vector2i cellPos = worldSpaceGrid.WorldToGridCoords(terrainPathConnect.transform.position);
if (array5[cellPos.x, cellPos.y] == int.MaxValue)
{
continue;
}
CS_0024_003C_003E8__locals0.stationNode = _003C_003Ec__DisplayClass17_.pathFinder.FindClosestWalkable(new PathFinder.Point(cellPos.x, cellPos.y), 1);
if (CS_0024_003C_003E8__locals0.stationNode == null)
{
continue;
}
Prefab <DungeonCell> prefab = ((cellPos.x > num) ? worldSpaceGrid[cellPos.x - 1, cellPos.y] : null);
Prefab <DungeonCell> prefab2 = ((cellPos.x < num2) ? worldSpaceGrid[cellPos.x + 1, cellPos.y] : null);
Prefab <DungeonCell> prefab3 = ((cellPos.y > num) ? worldSpaceGrid[cellPos.x, cellPos.y - 1] : null);
Prefab <DungeonCell> prefab4 = ((cellPos.y < num2) ? worldSpaceGrid[cellPos.x, cellPos.y + 1] : null);
Prefab <DungeonCell> prefab5 = null;
float num3 = float.MaxValue;
ArrayEx.Shuffle(array2, ref seed);
Prefab <DungeonCell>[] array6 = array2;
foreach (Prefab <DungeonCell> prefab6 in array6)
{
if ((prefab != null && prefab6.Component.West != prefab.Component.East) || (prefab2 != null && prefab6.Component.East != prefab2.Component.West) || (prefab3 != null && prefab6.Component.South != prefab3.Component.North) || (prefab4 != null && prefab6.Component.North != prefab4.Component.South))
{
continue;
}
DungeonLinkBlockVolume componentInChildren = prefab6.Object.GetComponentInChildren <DungeonLinkBlockVolume>();
DungeonLinkBlockVolume componentInChildren2 = _003C_003Ec__DisplayClass17_2.entrance.GetComponentInChildren <DungeonLinkBlockVolume>();
OBB bounds = componentInChildren.GetBounds(worldSpaceGrid.GridToWorldCoords(cellPos), Quaternion.identity);
OBB bounds2 = componentInChildren2.GetBounds(_003C_003Ec__DisplayClass17_2.entrance.transform.position, Quaternion.identity);
if (!bounds.Intersects2D(bounds2))
{
DungeonLink componentInChildren3 = prefab6.Object.GetComponentInChildren <DungeonLink>();
Vector3 vector = worldSpaceGrid.GridToWorldCoords(new Vector2i(cellPos.x, cellPos.y)) + componentInChildren3.UpSocket.localPosition;
float num4 = (terrainPathConnect.transform.position - vector).Magnitude2D();
if (!(num3 < num4))
{
prefab5 = prefab6;
num3 = num4;
}
}
}
if (prefab5 != null)
{
worldSpaceGrid[cellPos.x, cellPos.y] = prefab5;
array5[cellPos.x, cellPos.y] = int.MaxValue;
_003C_003Ec__DisplayClass17_3.isStartPoint = _003C_003Ec__DisplayClass17_.secondaryNodeList.Count == 0;
_003C_003Ec__DisplayClass17_.secondaryNodeList.RemoveAll((PathNode x) => x.node.point == CS_0024_003C_003E8__locals0.stationNode.point);
_003C_003Ec__DisplayClass17_.unconnectedNodeList.RemoveAll((PathNode x) => x.node.point == CS_0024_003C_003E8__locals0.stationNode.point);
if (prefab5.Component.West != 0)
{
CS_0024_003C_003E8__locals0._003CProcess_003Eg__AddNode_007C1(cellPos.x - 1, cellPos.y, ref _003C_003Ec__DisplayClass17_, ref _003C_003Ec__DisplayClass17_2, ref _003C_003Ec__DisplayClass17_3);
}
if (prefab5.Component.East != 0)
{
CS_0024_003C_003E8__locals0._003CProcess_003Eg__AddNode_007C1(cellPos.x + 1, cellPos.y, ref _003C_003Ec__DisplayClass17_, ref _003C_003Ec__DisplayClass17_2, ref _003C_003Ec__DisplayClass17_3);
}
if (prefab5.Component.South != 0)
{
CS_0024_003C_003E8__locals0._003CProcess_003Eg__AddNode_007C1(cellPos.x, cellPos.y - 1, ref _003C_003Ec__DisplayClass17_, ref _003C_003Ec__DisplayClass17_2, ref _003C_003Ec__DisplayClass17_3);
}
if (prefab5.Component.North != 0)
{
CS_0024_003C_003E8__locals0._003CProcess_003Eg__AddNode_007C1(cellPos.x, cellPos.y + 1, ref _003C_003Ec__DisplayClass17_, ref _003C_003Ec__DisplayClass17_2, ref _003C_003Ec__DisplayClass17_3);
}
PathLink pathLink = new PathLink();
DungeonLink componentInChildren4 = _003C_003Ec__DisplayClass17_2.entrance.gameObject.GetComponentInChildren <DungeonLink>();
Vector3 position = _003C_003Ec__DisplayClass17_2.entrance.transform.position;
Vector3 eulerAngles = _003C_003Ec__DisplayClass17_2.entrance.transform.rotation.eulerAngles;
DungeonLink componentInChildren5 = prefab5.Object.GetComponentInChildren <DungeonLink>();
Vector3 position2 = worldSpaceGrid.GridToWorldCoords(new Vector2i(cellPos.x, cellPos.y));
Vector3 zero = Vector3.zero;
pathLink.downwards = new PathLinkSide();
pathLink.downwards.origin = new PathLinkSegment();
pathLink.downwards.origin.position = position;
pathLink.downwards.origin.rotation = Quaternion.Euler(eulerAngles);
pathLink.downwards.origin.scale = Vector3.one;
pathLink.downwards.origin.link = componentInChildren4;
pathLink.downwards.segments = new List <PathLinkSegment>();
pathLink.upwards = new PathLinkSide();
pathLink.upwards.origin = new PathLinkSegment();
pathLink.upwards.origin.position = position2;
pathLink.upwards.origin.rotation = Quaternion.Euler(zero);
pathLink.upwards.origin.scale = Vector3.one;
pathLink.upwards.origin.link = componentInChildren5;
pathLink.upwards.segments = new List <PathLinkSegment>();
list3.Add(pathLink);
}
}
}
while (_003C_003Ec__DisplayClass17_.unconnectedNodeList.Count != 0 || _003C_003Ec__DisplayClass17_.secondaryNodeList.Count != 0)
{
if (_003C_003Ec__DisplayClass17_.unconnectedNodeList.Count == 0)
{
PathNode node3 = _003C_003Ec__DisplayClass17_.secondaryNodeList[0];
_003C_003Ec__DisplayClass17_.unconnectedNodeList.AddRange(_003C_003Ec__DisplayClass17_.secondaryNodeList.Where((PathNode x) => x.monument == node3.monument));
_003C_003Ec__DisplayClass17_.secondaryNodeList.RemoveAll((PathNode x) => x.monument == node3.monument);
Vector2i vector2i = worldSpaceGrid.WorldToGridCoords(node3.monument.transform.position);
_003C_003Ec__DisplayClass17_.pathFinder.PushPoint = new PathFinder.Point(vector2i.x, vector2i.y);
_003C_003Ec__DisplayClass17_.pathFinder.PushRadius = 2;
_003C_003Ec__DisplayClass17_.pathFinder.PushDistance = 2;
_003C_003Ec__DisplayClass17_.pathFinder.PushMultiplier = 4;
}
list7.Clear();
list7.AddRange(_003C_003Ec__DisplayClass17_.unconnectedNodeList.Select((PathNode x) => x.node.point));
list6.Clear();
list6.AddRange(list4.Select((PathNode x) => x.node.point));
list6.AddRange(_003C_003Ec__DisplayClass17_.secondaryNodeList.Select((PathNode x) => x.node.point));
list6.AddRange(list5);
PathFinder.Node node4 = _003C_003Ec__DisplayClass17_.pathFinder.FindPathUndirected(list6, list7, 100000);
if (node4 == null)
{
PathNode node2 = _003C_003Ec__DisplayClass17_.unconnectedNodeList[0];
_003C_003Ec__DisplayClass17_.secondaryNodeList.AddRange(_003C_003Ec__DisplayClass17_.unconnectedNodeList.Where((PathNode x) => x.monument == node2.monument));
_003C_003Ec__DisplayClass17_.unconnectedNodeList.RemoveAll((PathNode x) => x.monument == node2.monument);
_003C_003Ec__DisplayClass17_.secondaryNodeList.Remove(node2);
list4.Add(node2);
continue;
}
PathSegment segment = new PathSegment();
for (PathFinder.Node node5 = node4; node5 != null; node5 = node5.next)
{
if (node5 == node4)
{
segment.start = node5;
}
if (node5.next == null)
{
segment.end = node5;
}
}
list2.Add(segment);
PathNode node = _003C_003Ec__DisplayClass17_.unconnectedNodeList.Find((PathNode x) => x.node.point == segment.start.point || x.node.point == segment.end.point);
_003C_003Ec__DisplayClass17_.secondaryNodeList.AddRange(_003C_003Ec__DisplayClass17_.unconnectedNodeList.Where((PathNode x) => x.monument == node.monument));
_003C_003Ec__DisplayClass17_.unconnectedNodeList.RemoveAll((PathNode x) => x.monument == node.monument);
_003C_003Ec__DisplayClass17_.secondaryNodeList.Remove(node);
list4.Add(node);
PathNode pathNode = _003C_003Ec__DisplayClass17_.secondaryNodeList.Find((PathNode x) => x.node.point == segment.start.point || x.node.point == segment.end.point);
if (pathNode != null)
{
_003C_003Ec__DisplayClass17_.secondaryNodeList.Remove(pathNode);
list4.Add(pathNode);
}
for (PathFinder.Node node6 = node4; node6 != null; node6 = node6.next)
{
if (node6 != node4 && node6.next != null)
{
list5.Add(node6.point);
}
}
}
foreach (PathSegment item2 in list2)
{
PathFinder.Node node7 = item2.start;
while (node7 != null && node7.next != null)
{
DungeonConnectionHash dungeonConnectionHash = _003C_003Ec__DisplayClass17_.hashmap[node7.point.x, node7.point.y];
DungeonConnectionHash dungeonConnectionHash2 = _003C_003Ec__DisplayClass17_.hashmap[node7.next.point.x, node7.next.point.y];
if (node7.point.x > node7.next.point.x)
{
dungeonConnectionHash.West = true;
dungeonConnectionHash2.East = true;
}
if (node7.point.x < node7.next.point.x)
{
dungeonConnectionHash.East = true;
dungeonConnectionHash2.West = true;
}
if (node7.point.y > node7.next.point.y)
{
dungeonConnectionHash.South = true;
dungeonConnectionHash2.North = true;
}
if (node7.point.y < node7.next.point.y)
{
dungeonConnectionHash.North = true;
dungeonConnectionHash2.South = true;
}
_003C_003Ec__DisplayClass17_.hashmap[node7.point.x, node7.point.y] = dungeonConnectionHash;
_003C_003Ec__DisplayClass17_.hashmap[node7.next.point.x, node7.next.point.y] = dungeonConnectionHash2;
node7 = node7.next;
}
}
for (int m = 0; m < worldSpaceGrid.CellCount; m++)
{
for (int n = 0; n < worldSpaceGrid.CellCount; n++)
{
if (array5[m, n] == int.MaxValue)
{
continue;
}
DungeonConnectionHash dungeonConnectionHash3 = _003C_003Ec__DisplayClass17_.hashmap[m, n];
if (dungeonConnectionHash3.Value == 0)
{
continue;
}
ArrayEx.Shuffle(array, ref seed);
Prefab <DungeonCell>[] array6 = array;
foreach (Prefab <DungeonCell> prefab7 in array6)
{
Prefab <DungeonCell> prefab8 = ((m > num) ? worldSpaceGrid[m - 1, n] : null);
if (((prefab8 != null) ? ((prefab7.Component.West == prefab8.Component.East) ? 1 : 0) : (dungeonConnectionHash3.West ? ((int)prefab7.Component.West) : ((prefab7.Component.West == DungeonConnectionType.None) ? 1 : 0))) == 0)
{
continue;
}
Prefab <DungeonCell> prefab9 = ((m < num2) ? worldSpaceGrid[m + 1, n] : null);
if (((prefab9 != null) ? ((prefab7.Component.East == prefab9.Component.West) ? 1 : 0) : (dungeonConnectionHash3.East ? ((int)prefab7.Component.East) : ((prefab7.Component.East == DungeonConnectionType.None) ? 1 : 0))) == 0)
{
continue;
}
Prefab <DungeonCell> prefab10 = ((n > num) ? worldSpaceGrid[m, n - 1] : null);
if (((prefab10 != null) ? ((prefab7.Component.South == prefab10.Component.North) ? 1 : 0) : (dungeonConnectionHash3.South ? ((int)prefab7.Component.South) : ((prefab7.Component.South == DungeonConnectionType.None) ? 1 : 0))) == 0)
{
continue;
}
Prefab <DungeonCell> prefab11 = ((n < num2) ? worldSpaceGrid[m, n + 1] : null);
if (((prefab11 != null) ? ((prefab7.Component.North == prefab11.Component.South) ? 1 : 0) : (dungeonConnectionHash3.North ? ((int)prefab7.Component.North) : ((prefab7.Component.North == DungeonConnectionType.None) ? 1 : 0))) != 0 && (prefab7.Component.West == DungeonConnectionType.None || prefab8 == null || !prefab7.Component.ShouldAvoid(prefab8.ID)) && (prefab7.Component.East == DungeonConnectionType.None || prefab9 == null || !prefab7.Component.ShouldAvoid(prefab9.ID)) && (prefab7.Component.South == DungeonConnectionType.None || prefab10 == null || !prefab7.Component.ShouldAvoid(prefab10.ID)) && (prefab7.Component.North == DungeonConnectionType.None || prefab11 == null || !prefab7.Component.ShouldAvoid(prefab11.ID)))
{
worldSpaceGrid[m, n] = prefab7;
bool num5 = prefab8 == null || prefab7.Component.WestVariant == prefab8.Component.EastVariant;
bool flag = prefab10 == null || prefab7.Component.SouthVariant == prefab10.Component.NorthVariant;
if (num5 && flag)
{
break;
}
}
}
}
}
Vector3 zero2 = Vector3.zero;
Vector3 zero3 = Vector3.zero;
Vector3 vector2 = Vector3.up * 10f;
Vector3 vector3 = Vector3.up * (LinkTransition + 1f);
do
{
zero3 = zero2;
for (int num6 = 0; num6 < worldSpaceGrid.CellCount; num6++)
{
for (int num7 = 0; num7 < worldSpaceGrid.CellCount; num7++)
{
Prefab <DungeonCell> prefab12 = worldSpaceGrid[num6, num7];
if (prefab12 != null)
{
Vector2i cellPos2 = new Vector2i(num6, num7);
Vector3 vector4 = worldSpaceGrid.GridToWorldCoords(cellPos2);
while (!prefab12.CheckEnvironmentVolumesInsideTerrain(zero2 + vector4 + vector2, Quaternion.identity, Vector3.one, EnvironmentType.Underground) || prefab12.CheckEnvironmentVolumes(zero2 + vector4 + vector3, Quaternion.identity, Vector3.one, EnvironmentType.Underground | EnvironmentType.Building) || prefab12.CheckEnvironmentVolumes(zero2 + vector4, Quaternion.identity, Vector3.one, EnvironmentType.Underground | EnvironmentType.Building))
{
zero2.y -= 9f;
}
}
}
}
}while (zero2 != zero3);
foreach (PathLink item3 in list3)
{
item3.upwards.origin.position += zero2;
}
for (int num8 = 0; num8 < worldSpaceGrid.CellCount; num8++)
{
for (int num9 = 0; num9 < worldSpaceGrid.CellCount; num9++)
{
Prefab <DungeonCell> prefab13 = worldSpaceGrid[num8, num9];
if (prefab13 != null)
{
Vector2i cellPos3 = new Vector2i(num8, num9);
Vector3 vector5 = worldSpaceGrid.GridToWorldCoords(cellPos3);
World.AddPrefab("Dungeon", prefab13, zero2 + vector5, Quaternion.identity, Vector3.one);
}
}
}
for (int num10 = 0; num10 < worldSpaceGrid.CellCount - 1; num10++)
{
for (int num11 = 0; num11 < worldSpaceGrid.CellCount - 1; num11++)
{
Prefab <DungeonCell> prefab14 = worldSpaceGrid[num10, num11];
Prefab <DungeonCell> prefab15 = worldSpaceGrid[num10 + 1, num11];
Prefab <DungeonCell> prefab16 = worldSpaceGrid[num10, num11 + 1];
Prefab <DungeonCell>[] array6;
if (prefab14 != null && prefab15 != null && prefab14.Component.EastVariant != prefab15.Component.WestVariant)
{
ArrayEx.Shuffle(array3, ref seed);
array6 = array3;
foreach (Prefab <DungeonCell> prefab17 in array6)
{
if (prefab17.Component.West == prefab14.Component.East && prefab17.Component.East == prefab15.Component.West && prefab17.Component.WestVariant == prefab14.Component.EastVariant && prefab17.Component.EastVariant == prefab15.Component.WestVariant)
{
Vector2i cellPos4 = new Vector2i(num10, num11);
Vector3 vector6 = worldSpaceGrid.GridToWorldCoords(cellPos4) + new Vector3(worldSpaceGrid.CellSizeHalf, 0f, 0f);
World.AddPrefab("Dungeon", prefab17, zero2 + vector6, Quaternion.identity, Vector3.one);
break;
}
}
}
if (prefab14 == null || prefab16 == null || prefab14.Component.NorthVariant == prefab16.Component.SouthVariant)
{
continue;
}
ArrayEx.Shuffle(array3, ref seed);
array6 = array3;
foreach (Prefab <DungeonCell> prefab18 in array6)
{
if (prefab18.Component.South == prefab14.Component.North && prefab18.Component.North == prefab16.Component.South && prefab18.Component.SouthVariant == prefab14.Component.NorthVariant && prefab18.Component.NorthVariant == prefab16.Component.SouthVariant)
{
Vector2i cellPos5 = new Vector2i(num10, num11);
Vector3 vector7 = worldSpaceGrid.GridToWorldCoords(cellPos5) + new Vector3(0f, 0f, worldSpaceGrid.CellSizeHalf);
World.AddPrefab("Dungeon", prefab18, zero2 + vector7, Quaternion.identity, Vector3.one);
break;
}
}
}
}
foreach (PathLink item4 in list3)
{
Vector3 vector8 = item4.upwards.origin.position + item4.upwards.origin.rotation * Vector3.Scale(item4.upwards.origin.upSocket.localPosition, item4.upwards.origin.scale);
Vector3 vector9 = item4.downwards.origin.position + item4.downwards.origin.rotation * Vector3.Scale(item4.downwards.origin.downSocket.localPosition, item4.downwards.origin.scale) - vector8;
Vector3[] array7 = new Vector3[2]
{
new Vector3(0f, 1f, 0f),
new Vector3(1f, 1f, 1f)
};
for (int k = 0; k < array7.Length; k++)
{
Vector3 b = array7[k];
int num12 = 0;
int num13 = 0;
while (vector9.magnitude > 1f && (num12 < 8 || num13 < 8))
{
bool flag2 = num12 > 2 && num13 > 2;
bool flag3 = num12 > 4 && num13 > 4;
Prefab <DungeonLink> prefab19 = null;
Vector3 vector10 = Vector3.zero;
int num14 = int.MinValue;
Vector3 position3 = Vector3.zero;
Quaternion rotation = Quaternion.identity;
PathLinkSegment prevSegment = item4.downwards.prevSegment;
Vector3 vector11 = prevSegment.position + prevSegment.rotation * Vector3.Scale(prevSegment.scale, prevSegment.downSocket.localPosition);
Quaternion quaternion = prevSegment.rotation * prevSegment.downSocket.localRotation;
Prefab <DungeonLink>[] array8 = array4;
foreach (Prefab <DungeonLink> prefab20 in array8)
{
float num15 = SeedRandom.Value(ref seed);
DungeonLink component = prefab20.Component;
if (prevSegment.downType != component.UpType)
{
continue;
}
switch (component.DownType)
{
case DungeonLinkType.Elevator:
if (flag2 || b.x != 0f || b.z != 0f)
{
continue;
}
break;
case DungeonLinkType.Transition:
if (b.x != 0f || b.z != 0f)
{
continue;
}
break;
}
int num16 = ((!flag2) ? component.Priority : 0);
if (num14 > num16)
{
continue;
}
Quaternion quaternion2 = quaternion * Quaternion.Inverse(component.UpSocket.localRotation);
Quaternion quaternion3 = quaternion2 * component.DownSocket.localRotation;
PathLinkSegment prevSegment2 = item4.upwards.prevSegment;
Quaternion quaternion4 = prevSegment2.rotation * prevSegment2.upSocket.localRotation;
if (component.Rotation > 0)
{
if (Quaternion.Angle(quaternion4, quaternion3) > (float)component.Rotation)
{
continue;
}
Quaternion quaternion5 = quaternion4 * Quaternion.Inverse(quaternion3);
quaternion2 *= quaternion5;
quaternion3 *= quaternion5;
}
Vector3 vector12 = vector11 - quaternion2 * component.UpSocket.localPosition;
Vector3 vector13 = quaternion2 * (component.DownSocket.localPosition - component.UpSocket.localPosition);
Vector3 a = vector9 + vector10;
Vector3 a2 = vector9 + vector13;
float magnitude = a.magnitude;
float magnitude2 = a2.magnitude;
Vector3 vector14 = Vector3.Scale(a, b);
Vector3 vector15 = Vector3.Scale(a2, b);
float magnitude3 = vector14.magnitude;
float magnitude4 = vector15.magnitude;
if (vector10 != Vector3.zero)
{
if (magnitude3 < magnitude4 || (magnitude3 == magnitude4 && magnitude < magnitude2) || (magnitude3 == magnitude4 && magnitude == magnitude2 && num15 < 0.5f))
{
continue;
}
}
else if (magnitude3 <= magnitude4)
{
continue;
}
if (Mathf.Abs(vector15.x) - Mathf.Abs(vector14.x) > 0.01f || (Mathf.Abs(vector15.x) > 0.01f && a.x * a2.x < 0f) || Mathf.Abs(vector15.y) - Mathf.Abs(vector14.y) > 0.01f || (Mathf.Abs(vector15.y) > 0.01f && a.y * a2.y < 0f) || Mathf.Abs(vector15.z) - Mathf.Abs(vector14.z) > 0.01f || (Mathf.Abs(vector15.z) > 0.01f && a.z * a2.z < 0f) || (flag2 && b.x == 0f && b.z == 0f && component.DownType == DungeonLinkType.Default && ((Mathf.Abs(a2.x) > 0.01f && Mathf.Abs(a2.x) < LinkRadius * 2f - 0.1f) || (Mathf.Abs(a2.z) > 0.01f && Mathf.Abs(a2.z) < LinkRadius * 2f - 0.1f))))
{
continue;
}
num14 = num16;
if (b.x == 0f && b.z == 0f)
{
if (!flag2 && Mathf.Abs(a2.y) < LinkTransition - 0.1f)
{
continue;
}
}
else if ((!flag2 && magnitude4 > 0.01f && (Mathf.Abs(a2.x) < LinkRadius * 2f - 0.1f || Mathf.Abs(a2.z) < LinkRadius * 2f - 0.1f)) || (!flag3 && magnitude4 > 0.01f && (Mathf.Abs(a2.x) < LinkRadius * 1f - 0.1f || Mathf.Abs(a2.z) < LinkRadius * 1f - 0.1f)))
{
continue;
}
if (!flag2 || !(magnitude4 < 0.01f) || !(magnitude2 < 0.01f) || !(Quaternion.Angle(quaternion4, quaternion3) > 10f))
{
prefab19 = prefab20;
vector10 = vector13;
num14 = num16;
position3 = vector12;
rotation = quaternion2;
}
}
if (vector10 != Vector3.zero)
{
PathLinkSegment pathLinkSegment = new PathLinkSegment();
pathLinkSegment.position = position3;
pathLinkSegment.rotation = rotation;
pathLinkSegment.scale = Vector3.one;
pathLinkSegment.prefab = prefab19;
pathLinkSegment.link = prefab19.Component;
item4.downwards.segments.Add(pathLinkSegment);
vector9 += vector10;
}
else
{
num13++;
}
if (b.x > 0f || b.z > 0f)
{
Prefab <DungeonLink> prefab21 = null;
Vector3 vector16 = Vector3.zero;
int num17 = int.MinValue;
Vector3 position4 = Vector3.zero;
Quaternion rotation2 = Quaternion.identity;
PathLinkSegment prevSegment3 = item4.upwards.prevSegment;
Vector3 vector17 = prevSegment3.position + prevSegment3.rotation * Vector3.Scale(prevSegment3.scale, prevSegment3.upSocket.localPosition);
Quaternion quaternion6 = prevSegment3.rotation * prevSegment3.upSocket.localRotation;
array8 = array4;
foreach (Prefab <DungeonLink> prefab22 in array8)
{
float num18 = SeedRandom.Value(ref seed);
DungeonLink component2 = prefab22.Component;
if (prevSegment3.upType != component2.DownType)
{
continue;
}
switch (component2.DownType)
{
case DungeonLinkType.Elevator:
if (flag2 || b.x != 0f || b.z != 0f)
{
continue;
}
break;
case DungeonLinkType.Transition:
if (b.x != 0f || b.z != 0f)
{
continue;
}
break;
}
int num19 = ((!flag2) ? component2.Priority : 0);
if (num17 > num19)
{
continue;
}
Quaternion quaternion7 = quaternion6 * Quaternion.Inverse(component2.DownSocket.localRotation);
Quaternion quaternion8 = quaternion7 * component2.UpSocket.localRotation;
PathLinkSegment prevSegment4 = item4.downwards.prevSegment;
Quaternion quaternion9 = prevSegment4.rotation * prevSegment4.downSocket.localRotation;
if (component2.Rotation > 0)
{
if (Quaternion.Angle(quaternion9, quaternion8) > (float)component2.Rotation)
{
continue;
}
Quaternion quaternion10 = quaternion9 * Quaternion.Inverse(quaternion8);
quaternion7 *= quaternion10;
quaternion8 *= quaternion10;
}
Vector3 vector18 = vector17 - quaternion7 * component2.DownSocket.localPosition;
Vector3 vector19 = quaternion7 * (component2.UpSocket.localPosition - component2.DownSocket.localPosition);
Vector3 a3 = vector9 - vector16;
Vector3 a4 = vector9 - vector19;
float magnitude5 = a3.magnitude;
float magnitude6 = a4.magnitude;
Vector3 vector20 = Vector3.Scale(a3, b);
Vector3 vector21 = Vector3.Scale(a4, b);
float magnitude7 = vector20.magnitude;
float magnitude8 = vector21.magnitude;
if (vector16 != Vector3.zero)
{
if (magnitude7 < magnitude8 || (magnitude7 == magnitude8 && magnitude5 < magnitude6) || (magnitude7 == magnitude8 && magnitude5 == magnitude6 && num18 < 0.5f))
{
continue;
}
}
else if (magnitude7 <= magnitude8)
{
continue;
}
if (Mathf.Abs(vector21.x) - Mathf.Abs(vector20.x) > 0.01f || (Mathf.Abs(vector21.x) > 0.01f && a3.x * a4.x < 0f) || Mathf.Abs(vector21.y) - Mathf.Abs(vector20.y) > 0.01f || (Mathf.Abs(vector21.y) > 0.01f && a3.y * a4.y < 0f) || Mathf.Abs(vector21.z) - Mathf.Abs(vector20.z) > 0.01f || (Mathf.Abs(vector21.z) > 0.01f && a3.z * a4.z < 0f) || (flag2 && b.x == 0f && b.z == 0f && component2.UpType == DungeonLinkType.Default && ((Mathf.Abs(a4.x) > 0.01f && Mathf.Abs(a4.x) < LinkRadius * 2f - 0.1f) || (Mathf.Abs(a4.z) > 0.01f && Mathf.Abs(a4.z) < LinkRadius * 2f - 0.1f))))
{
continue;
}
num17 = num19;
if (b.x == 0f && b.z == 0f)
{
if (!flag2 && Mathf.Abs(a4.y) < LinkTransition - 0.1f)
{
continue;
}
}
else if ((!flag2 && magnitude8 > 0.01f && (Mathf.Abs(a4.x) < LinkRadius * 2f - 0.1f || Mathf.Abs(a4.z) < LinkRadius * 2f - 0.1f)) || (!flag3 && magnitude8 > 0.01f && (Mathf.Abs(a4.x) < LinkRadius * 1f - 0.1f || Mathf.Abs(a4.z) < LinkRadius * 1f - 0.1f)))
{
continue;
}
if (!flag2 || !(magnitude8 < 0.01f) || !(magnitude6 < 0.01f) || !(Quaternion.Angle(quaternion9, quaternion8) > 10f))
{
prefab21 = prefab22;
vector16 = vector19;
num17 = num19;
position4 = vector18;
rotation2 = quaternion7;
}
}
if (vector16 != Vector3.zero)
{
PathLinkSegment pathLinkSegment2 = new PathLinkSegment();
pathLinkSegment2.position = position4;
pathLinkSegment2.rotation = rotation2;
pathLinkSegment2.scale = Vector3.one;
pathLinkSegment2.prefab = prefab21;
pathLinkSegment2.link = prefab21.Component;
item4.upwards.segments.Add(pathLinkSegment2);
vector9 -= vector16;
}
else
{
num12++;
}
}
else
{
num12++;
}
}
}
}
foreach (PathLink item5 in list3)
{
foreach (PathLinkSegment segment2 in item5.downwards.segments)
{
World.AddPrefab("Dungeon", segment2.prefab, segment2.position, segment2.rotation, segment2.scale);
}
foreach (PathLinkSegment segment3 in item5.upwards.segments)
{
World.AddPrefab("Dungeon", segment3.prefab, segment3.position, segment3.rotation, segment3.scale);
}
}
if ((bool)TerrainMeta.Path)
{
TerrainMeta.Path.DungeonRoot = HierarchyUtil.GetRoot("Dungeon");
}
}
private void ConnectNodes(PointTileNode pA, PointTileNode pB)
{
PathLink l = pB.GetLinkTo(pA);
if (l == null) {
l = new PathLink(pA, pB);
l.distance = 1f;
pA.AddLink(l);
pB.AddLink(l);
}
}
/// <summary>
/// Search a path with Dijkstra algorithm.
/// The open list is optimized with PathLink class and not Path class. This way, we do not duplicate a whole path when we extend it,
/// we create PathLink insted and use it as LinkedList to simulate a path.
/// </summary>
/// <param name="_Start">Tile to start from</param>
/// <param name="_End">Tile to reach</param>
/// <param name="_ChronoInfos">Struct with times value to evaluate performance</param>
/// <param name="_MaxSeconds">Max time allowed to search a solution. If value is negative, no time limit applied</param>
/// <returns>the shortest path from start tile to end tile if it exists, null otherwise</returns>
public static Path SearchDisjktraPathFromTo_LinkOpti(Tile _Start, Tile _End, out ChronoInfos _ChronoInfos, float _TimeLimit)
{
StartChrono();
if (_Start == null || !_Start.IsAccessible || _End == null || !_End.IsAccessible)
{
_ChronoInfos = ChronoInfos.InfosNone;
return(null);
}
List <PathLink> openList = new List <PathLink>(100)
{
new PathLink(_Start)
};
HashSet <Tile> closeHashSet = new HashSet <Tile>();
CustomComparer <PathLink> customComparer = new CustomComparer <PathLink>(false);
while (openList.Count > 0)
{
// Stop search if the chrono reached the time limit.
// It avoids to get infinite loop or too long to find a solution. Mainly usefull to debug
if (_TimeLimit > 0 && chrono.Elapsed.TotalSeconds > _TimeLimit)
{
_ChronoInfos = StopChrono(_Start, _End, false);
return(null);
}
// Take the last (and so the shortest) path to extend
PathLink pathToExtend = openList.Last();
Tile tileToExtend = pathToExtend.Tile;
// If the end is reach, return solution
if (tileToExtend == _End)
{
_ChronoInfos = StopChrono(_Start, _End, true);
return(Path.CreatePath(pathToExtend));
}
// Remove the current path from open list
removeFromOpenChrono -= chrono.ElapsedMilliseconds;
openList.RemoveAt(openList.Count - 1);
removeFromOpenChrono += chrono.ElapsedMilliseconds;
// If the last tile was already reached, skip process to next path to extend
if (closeHashSet.Contains(tileToExtend))
{
continue;
}
closeHashSet.Add(tileToExtend);
foreachNeighborsChrono -= chrono.ElapsedMilliseconds;
// Loop on neighbors of last tile
for (int i = 0; i < tileToExtend.Neighbors.Count; i++)
{
Tile neighbor = tileToExtend.Neighbors[i];
// If neighbor is wall or already reached, skip process to next neighbor
searchInCloseListChrono -= chrono.ElapsedMilliseconds;
bool existInCloseList = closeHashSet.Contains(neighbor);
searchInCloseListChrono += chrono.ElapsedMilliseconds;
if (!neighbor.IsAccessible || existInCloseList)
{
continue;
}
// Extend pathlink with the path to extend and the current neighbor
extendPathChrono -= chrono.ElapsedMilliseconds;
//PathLink extendedPath = new PathLink(pathToExtend, neighbor);
PathLink extendedPath = pathToExtend.MakeExtensionWith(neighbor);
extendPathChrono += chrono.ElapsedMilliseconds;
// Search index to insert extended path in open list
searchInsertionChrono -= chrono.ElapsedMilliseconds;
int indexInsertion = openList.BinarySearch(extendedPath, customComparer);
if (indexInsertion < 0)
{
indexInsertion = ~indexInsertion;
}
searchInsertionChrono += chrono.ElapsedMilliseconds;
// Insert the extended path in open list
insertToOpenListChrono -= chrono.ElapsedMilliseconds;
openList.Insert(indexInsertion, extendedPath);
insertToOpenListChrono += chrono.ElapsedMilliseconds;
}
foreachNeighborsChrono += chrono.ElapsedMilliseconds;
}
_ChronoInfos = StopChrono(_Start, _End, false);
return(null);
}
FindOptimalLinksToCrossovers(
IntVector2 p,
int[] candidateWaypoints = null,
IReadOnlyDictionary <DoubleLineSegment2, IntLineSegment2[]> candidateBarriersByDestinationSegment = null
)
{
Interlocked.Increment(ref FindOptimalLinksToCrossoversInvocationCount);
//var links = new List<PathLink>(128);
//links.Resize(crossoverPoints.Count);
//return (new PathLink[0], 0, new PathLink[waypoints.Length], links);
int visibleWaypointLinksLength;
PathLink[] optimalLinkToWaypoints;
var visibleWaypointLinks = FindVisibleWaypointLinks(p, candidateWaypoints, out visibleWaypointLinksLength, out optimalLinkToWaypoints);
// Cost from p to other crossoverPoints...
var optimalLinkToCrossovers = new ExposedArrayList <PathLink>(Math.Max(128, crossoverPoints.Count));
optimalLinkToCrossovers.size = crossoverPoints.Count;
void ProcessCpi(int cpi, IntLineSegment2[] candidateBarriers)
{
// for bench
optimalLinkToCrossovers[cpi] = new PathLink {
PriorIndex = PathLink.ErrorInvalidIndex,
TotalCost = float.PositiveInfinity
};
return;
Interlocked.Increment(ref ProcessCpiInvocationCount);
bool isDirectPath;
if (p == crossoverPoints[cpi])
{
isDirectPath = true; // degenerate segment
}
else if (candidateBarriers == null)
{
// Console.WriteLine($"Try intersect {cpi}: {p} to {crossoverPoints[cpi]}");
var isDirectPath1 = !landPolyNode.FindContourAndChildHoleBarriersBvh().Intersects(new IntLineSegment2(p, crossoverPoints[cpi]));
// var isDirectPath2 = landPolyNode.SegmentInLandPolygonNonrecursive(p, crossoverPoints[cpi]);
// Console.WriteLine($" => res {isDirectPath1} vs {isDirectPath2}");
isDirectPath = isDirectPath1;
}
else
{
// below is equivalent to (and shaved off 22% execution time relative to):
// isDirectPath = candidateBarriers.None(new ILS2(p, crossoverPoints[cpi]).Intersects)
isDirectPath = true;
//var seg = new IntLineSegment2(p, crossoverPoints[cpi]);
for (var bi = 0; bi < candidateBarriers.Length && isDirectPath; bi++)
{
Interlocked.Increment(ref ProcessCpiInvocation_CandidateBarrierIntersectCount);
if (IntLineSegment2.Intersects(
p.X, p.Y, crossoverPoints[cpi].X, crossoverPoints[cpi].Y,
candidateBarriers[bi].X1, candidateBarriers[bi].Y1, candidateBarriers[bi].X2, candidateBarriers[bi].Y2))
{
isDirectPath = false;
}
//if (seg.Intersects(ref candidateBarriers[bi])) isDirectPath = false;
}
}
if (isDirectPath)
{
Interlocked.Increment(ref ProcessCpiInvocation_DirectCount);
var totalCost = p.To(crossoverPoints[cpi]).Norm2F();
Trace.Assert(!float.IsNaN(totalCost));
optimalLinkToCrossovers[cpi] = new PathLink {
PriorIndex = PathLink.DirectPathIndex,
TotalCost = totalCost
};
}
else
{
Interlocked.Increment(ref ProcessCpiInvocation_IndirectCount);
var otherOptimalLinkByWaypointIndex = optimalLinkToWaypointsByCrossoverPointIndex[cpi];
//--
// Below is equivalent to (and shaved off 14% execution time relative to):
// visibleWaypointLinks.MinBy(cpwl => cpwl.TotalCost + otherOptimalLinkByWaypointIndex[cpwl.PriorIndex].TotalCost);
var optimalLinkToOtherCrossoverPointIndex = -1;
var optimalLinkToOtherCrossoverPointCost = float.PositiveInfinity;
for (var vwli = 0; vwli < visibleWaypointLinksLength; vwli++)
{
ref var vwl = ref visibleWaypointLinks[vwli];
var cost = vwl.TotalCost + otherOptimalLinkByWaypointIndex[vwl.PriorIndex].TotalCost;
if (cost < optimalLinkToOtherCrossoverPointCost)
{
optimalLinkToOtherCrossoverPointIndex = vwli;
optimalLinkToOtherCrossoverPointCost = cost;
}
}
if (optimalLinkToOtherCrossoverPointIndex == -1)
{
// Todo: This shouldn't happen!
optimalLinkToCrossovers[cpi] = new PathLink {
PriorIndex = PathLink.ErrorInvalidIndex,
TotalCost = float.PositiveInfinity
};
}
else
{
ref var optimalLinkToOtherCrossoverPoint = ref visibleWaypointLinks[optimalLinkToOtherCrossoverPointIndex];
//--
var optimalLinkFromOtherCrossoverPoint = otherOptimalLinkByWaypointIndex[optimalLinkToOtherCrossoverPoint.PriorIndex];
var totalCost = optimalLinkToOtherCrossoverPoint.TotalCost + optimalLinkFromOtherCrossoverPoint.TotalCost;
Trace.Assert(!float.IsNaN(totalCost));
optimalLinkToCrossovers[cpi] = new PathLink {
PriorIndex = optimalLinkToOtherCrossoverPoint.PriorIndex,
TotalCost = totalCost
};
}
}
public void RemoveLink(PathLink pLink)
{
_links.Remove(pLink);
}
public void AddLink(PathLink pLink)
{
List<PathLink> newLinks = links == null ? new List<PathLink>() : new List<PathLink>(links);
newLinks.Add(pLink);
links = newLinks;
}
public void RemoveLink(PathLink pLink)
{
List<PathLink> newLinks = links == null ? new List<PathLink>() : new List<PathLink>(links);
newLinks.Remove(pLink);
links = newLinks;
}
public void AddLink(PathLink pLink)
{
_links.Add(pLink);
}