/// <summary>
/// Checks to see if the navigator can reciprocally go back and forth between a cell
/// and another cell, checking only if they are immediately reachable.
/// </summary>
/// <param name="fromCell">The cell where the navigator is currently located.</param>
/// <param name="toCell">The potential destination cell.</param>
/// <param name="navGrid">The navigation grid to use for lookups.</param>
/// <param name="startNavType">The navigation type to use.</param>
/// <param name="abilities">The current navigator abilities.</param>
/// <param name="newFlags">The flags available for this path.</param>
/// <returns>true if navigation can be performed, both ways, or false otherwise.</returns>
private static bool CanNavigateReciprocal(int fromCell, int toCell, NavGrid navGrid,
NavType startNavType, PathFinderAbilities abilities, PathFlags flags)
{
var grid = PathFinder.PathGrid;
bool ok = false;
// Find a link from this cell to the target cell
var link = FindLinkToCell(fromCell, toCell, navGrid, startNavType);
if (link.link != InvalidHandle)
{
var endNavType = link.endNavType;
var pp = new PathFinder.PotentialPath(toCell, endNavType, flags);
int uwCost = grid.GetCell(toCell, endNavType, out _).underwaterCost;
// Can navigate there, and has a link back?
if (abilities.TraversePath(ref pp, fromCell, startNavType, link.cost, link.
transitionId, uwCost) && (link = FindLinkToCell(toCell, fromCell,
navGrid, endNavType)).link != InvalidHandle)
{
pp.cell = fromCell;
pp.navType = startNavType;
uwCost = grid.GetCell(fromCell, startNavType, out _).underwaterCost;
ok = abilities.TraversePath(ref pp, toCell, endNavType, link.cost,
link.transitionId, uwCost);
}
}
return(ok);
}
public static bool ValidatePath(NavGrid nav_grid, PathFinderAbilities abilities, ref Path path)
{
if (!path.IsValid())
{
return(false);
}
for (int i = 0; i < path.nodes.Count; i++)
{
Path.Node node = path.nodes[i];
if (i < path.nodes.Count - 1)
{
Path.Node node2 = path.nodes[i + 1];
int num = node.cell * nav_grid.maxLinksPerCell;
bool flag = false;
NavGrid.Link link = nav_grid.Links[num];
while (link.link != InvalidHandle)
{
if (link.link == node2.cell && node2.navType == link.endNavType && node.navType == link.startNavType)
{
PotentialPath path2 = new PotentialPath(node.cell, node.navType, PotentialPath.Flags.None);
flag = abilities.TraversePath(ref path2, node.cell, node.navType, 0, link.transitionId, 0);
if (flag)
{
break;
}
}
num++;
link = nav_grid.Links[num];
}
if (!flag)
{
return(false);
}
}
}
return(true);
}
public static void AddPotentials(PotentialScratchPad potential_scratch_pad, PotentialPath potential, int cost, int underwater_cost, ref PathFinderAbilities abilities, PathFinderQuery query, int max_links_per_cell, NavGrid.Link[] links, PotentialList potentials, PathGrid path_grid, int parent_cell, NavType parent_nav_type)
{
int num = 0;
NavGrid.Link[] linksWithCorrectNavType = potential_scratch_pad.linksWithCorrectNavType;
int num2 = potential.cell * max_links_per_cell;
NavGrid.Link link = links[num2];
for (int link2 = link.link; link2 != InvalidHandle; link2 = link.link)
{
if (link.startNavType == potential.navType && (parent_cell != link2 || parent_nav_type != link.startNavType))
{
linksWithCorrectNavType[num++] = link;
}
num2++;
link = links[num2];
}
int num4 = 0;
PotentialScratchPad.PathGridCellData[] linksInCellRange = potential_scratch_pad.linksInCellRange;
for (int i = 0; i < num; i++)
{
NavGrid.Link link3 = linksWithCorrectNavType[i];
int link4 = link3.link;
bool is_cell_in_range = false;
Cell cell = path_grid.GetCell(link4, link3.endNavType, out is_cell_in_range);
if (is_cell_in_range)
{
int num5 = cost + link3.cost;
bool flag = cell.cost == -1;
bool flag2 = num5 < cell.cost;
if (flag || flag2)
{
linksInCellRange[num4++] = new PotentialScratchPad.PathGridCellData
{
pathGridCell = cell,
link = link3
};
}
}
}
for (int j = 0; j < num4; j++)
{
PotentialScratchPad.PathGridCellData pathGridCellData = linksInCellRange[j];
NavGrid.Link link5 = pathGridCellData.link;
int link6 = link5.link;
pathGridCellData.isSubmerged = IsSubmerged(link6);
linksInCellRange[j] = pathGridCellData;
}
for (int k = 0; k < num4; k++)
{
PotentialScratchPad.PathGridCellData pathGridCellData2 = linksInCellRange[k];
NavGrid.Link link7 = pathGridCellData2.link;
int link8 = link7.link;
Cell cell_data = pathGridCellData2.pathGridCell;
int num7 = cost + link7.cost;
PotentialPath path = potential;
path.cell = link8;
path.navType = link7.endNavType;
int underwater_cost2;
if (pathGridCellData2.isSubmerged)
{
underwater_cost2 = underwater_cost + 1;
int submergedPathCostPenalty = abilities.GetSubmergedPathCostPenalty(path, link7);
num7 += submergedPathCostPenalty;
}
else
{
underwater_cost2 = 0;
}
PotentialPath.Flags flags = path.flags;
bool flag3 = abilities.TraversePath(ref path, potential.cell, potential.navType, num7, link7.transitionId, underwater_cost2);
if (path.flags != flags)
{
KProfiler.AddEvent("NavChange");
}
if (flag3)
{
AddPotential(path, potential.cell, potential.navType, num7, underwater_cost2, link7.transitionId, potentials, path_grid, ref cell_data);
}
}
}