public int GetClosestWaypointIndex(Vector3 position)
{
if (Object.op_Equality((Object)this.WaypointSet, (Object)null) || this.WaypointSet.Points.Count == 0)
{
return(this.CurrentWaypointIndex);
}
WaypointSet.Waypoint point1 = this.WaypointSet.Points[this.CurrentWaypointIndex];
point1.IsOccupied = false;
this.WaypointSet.Points[this.CurrentWaypointIndex] = point1;
float num1 = float.MaxValue;
int num2 = -1;
for (int index = 0; index < this.WaypointSet.Points.Count; ++index)
{
WaypointSet.Waypoint point2 = this.WaypointSet.Points[index];
if (!Object.op_Equality((Object)point2.Transform, (Object)null))
{
Vector3 vector3 = Vector3.op_Subtraction(point2.Transform.get_position(), position);
float sqrMagnitude = ((Vector3) ref vector3).get_sqrMagnitude();
if ((double)sqrMagnitude < (double)num1)
{
num1 = sqrMagnitude;
num2 = index;
}
}
}
if (num2 >= 0)
{
return(num2);
}
return(this.CurrentWaypointIndex);
}
public int GetNextWaypointIndex()
{
if (Object.op_Equality((Object)this.WaypointSet, (Object)null) || this.WaypointSet.Points.Count == 0 || this.WaypointSet.Points[this.PeekNextWaypointIndex()].IsOccupied)
{
return(this.CurrentWaypointIndex);
}
int currentWaypointIndex = this.CurrentWaypointIndex;
if (currentWaypointIndex >= 0 && currentWaypointIndex < this.WaypointSet.Points.Count)
{
WaypointSet.Waypoint point = this.WaypointSet.Points[currentWaypointIndex];
point.IsOccupied = false;
this.WaypointSet.Points[currentWaypointIndex] = point;
}
int index;
switch (this.WaypointSet.NavMode)
{
case WaypointSet.NavModes.Loop:
index = currentWaypointIndex + 1;
if (index >= this.WaypointSet.Points.Count)
{
index = 0;
break;
}
if (index < 0)
{
index = this.WaypointSet.Points.Count - 1;
break;
}
break;
case WaypointSet.NavModes.PingPong:
index = currentWaypointIndex + this.WaypointDirection;
if (index >= this.WaypointSet.Points.Count)
{
index = this.CurrentWaypointIndex - 1;
this.WaypointDirection = -1;
break;
}
if (index < 0)
{
index = 0;
this.WaypointDirection = 1;
break;
}
break;
default:
throw new ArgumentOutOfRangeException();
}
if (index >= 0 && index < this.WaypointSet.Points.Count)
{
WaypointSet.Waypoint point = this.WaypointSet.Points[index];
point.IsOccupied = true;
this.WaypointSet.Points[index] = point;
}
return(index);
}
public void Tick(IHTNAgent npc, float deltaTime, float time)
{
ScientistJunkpileContext npcContext = npc.AiDomain.NpcContext as ScientistJunkpileContext;
if (npcContext == null || Object.op_Equality((Object)npcContext.Domain.NavAgent, (Object)null) || (Object.op_Equality((Object)npcContext.Location, (Object)null) || Object.op_Equality((Object)npcContext.Location.PatrolPointGroup, (Object)null)))
{
return;
}
if (Object.op_Equality((Object)this.WaypointSet, (Object)null))
{
this.WaypointSet = (WaypointSet)((Component)npcContext.Location.PatrolPointGroup).GetComponent <WaypointSet>();
}
if (Object.op_Equality((Object)this.WaypointSet, (Object)null) || this.WaypointSet.Points.Count == 0)
{
return;
}
if (npcContext.IsFact(Facts.IsReturningHome) || npcContext.IsFact(Facts.HasEnemyTarget) || (npcContext.IsFact(Facts.NearbyAnimal) || !npcContext.IsFact(Facts.IsUsingTool)))
{
this.isFollowingWaypoints = false;
this.hasAlreadyPassedOnPrevCheck = false;
}
else
{
if (!this.isFollowingWaypoints)
{
if (!this.hasAlreadyPassedOnPrevCheck && (npcContext.GetPreviousFact(Facts.HasEnemyTarget) == (byte)1 || npcContext.GetPreviousFact(Facts.NearbyAnimal) == (byte)1) || this.isFirstTick)
{
this.CurrentWaypointIndex = this.GetClosestWaypointIndex(npcContext.BodyPosition);
if (this.isFirstTick)
{
this.isFirstTick = false;
}
else
{
this.hasAlreadyPassedOnPrevCheck = true;
}
}
WaypointSet.Waypoint point = this.WaypointSet.Points[this.CurrentWaypointIndex];
if (Object.op_Equality((Object)point.Transform, (Object)null))
{
this.CurrentWaypointIndex = this.GetNextWaypointIndex();
this.isFollowingWaypoints = false;
return;
}
Vector3 position = point.Transform.get_position();
Vector3 vector3 = Vector3.op_Subtraction(npcContext.Memory.TargetDestination, position);
NavMeshHit navMeshHit;
if ((double)((Vector3) ref vector3).get_sqrMagnitude() > 0.100000001490116 && NavMesh.SamplePosition(Vector3.op_Addition(position, Vector3.op_Multiply(Vector3.get_up(), 2f)), ref navMeshHit, 4f, npcContext.Domain.NavAgent.get_areaMask()))
{
point.Transform.set_position(((NavMeshHit) ref navMeshHit).get_position());
npcContext.Domain.SetDestination(((NavMeshHit) ref navMeshHit).get_position());
this.isFollowingWaypoints = true;
npcContext.SetFact(Facts.IsNavigating, true, true, true, true);
return;
}
}
float num1 = 2f;
float num2 = npcContext.Domain.NavAgent.get_stoppingDistance() * npcContext.Domain.NavAgent.get_stoppingDistance();
Vector3 vector3_1 = Vector3.op_Subtraction(npcContext.BodyPosition, npcContext.Memory.TargetDestination);
if ((double)((Vector3) ref vector3_1).get_sqrMagnitude() > (double)num2 + (double)num1)
{
return;
}
this.CurrentWaypointIndex = this.GetNextWaypointIndex();
this.isFollowingWaypoints = false;
}
}
