// Token: 0x06008D13 RID: 36115 RVA: 0x00292B00 File Offset: 0x00290D00
private WorldPathfinder.Node AllocateNode()
{
if (this.m_AllocateNodeCount >= this.m_NodePool.Count)
{
this.m_NodePool.Add(new WorldPathfinder.Node());
}
WorldPathfinder.Node node = this.m_NodePool[this.m_AllocateNodeCount++];
node.Reinitialize();
return(node);
}
// Token: 0x06008D1B RID: 36123 RVA: 0x00292FF4 File Offset: 0x002911F4
public WorldPathNode GetSolutionNext()
{
if (this.m_CurrentSolutionNode != null && this.m_CurrentSolutionNode.child != null)
{
WorldPathfinder.Node child = this.m_CurrentSolutionNode.child;
this.m_CurrentSolutionNode = this.m_CurrentSolutionNode.child;
return(child.m_UserState);
}
return(null);
}
// Token: 0x06008D12 RID: 36114 RVA: 0x00292A94 File Offset: 0x00290C94
private void SortedAddToOpenList(WorldPathfinder.Node node)
{
LinkedListNode <WorldPathfinder.Node> linkedListNode;
for (linkedListNode = this.m_OpenList.First; linkedListNode != null; linkedListNode = linkedListNode.Next)
{
if (node.f < linkedListNode.Value.f)
{
break;
}
}
if (linkedListNode != null)
{
this.m_OpenList.AddBefore(linkedListNode, node);
}
else
{
this.m_OpenList.AddLast(node);
}
}
// Token: 0x06008D19 RID: 36121 RVA: 0x00292FA4 File Offset: 0x002911A4
public void AddSuccessor(WorldPathNode state)
{
WorldPathfinder.Node node = this.AllocateNode();
node.m_UserState = state;
this.m_Successors.Add(node);
}
// Token: 0x06008D18 RID: 36120 RVA: 0x00292C84 File Offset: 0x00290E84
public WorldPathfinder.SearchState SearchStep()
{
if (this.m_State == WorldPathfinder.SearchState.NotInitialized || this.m_State == WorldPathfinder.SearchState.Succeeded || this.m_State == WorldPathfinder.SearchState.Failed)
{
return(this.m_State);
}
if (this.m_OpenList.Count == 0 || this.m_CancelRequest)
{
this.FreeSolutionNodes();
this.m_State = WorldPathfinder.SearchState.Failed;
return(this.m_State);
}
this.m_Steps++;
WorldPathfinder.Node value = this.m_OpenList.First.Value;
this.m_OpenList.RemoveFirst();
if (value.m_UserState.IsSameState(this.m_Goal.m_UserState))
{
this.m_Goal.parent = value.parent;
this.m_Goal.g = value.g;
if (!value.m_UserState.IsSameState(this.m_Start.m_UserState))
{
WorldPathfinder.Node node = this.m_Goal;
WorldPathfinder.Node parent = this.m_Goal.parent;
do
{
parent.child = node;
node = parent;
parent = parent.parent;
}while (node != this.m_Start);
}
this.m_State = WorldPathfinder.SearchState.Succeeded;
return(this.m_State);
}
this.m_Successors.Clear();
value.m_UserState.GetSuccessors(this, (value.parent == null) ? null : value.parent.m_UserState);
WorldPathfinder.Node node2 = null;
int count = this.m_Successors.Count;
for (int i = 0; i < count; i++)
{
node2 = this.m_Successors[i];
float num = value.g + value.m_UserState.GetCost(this, node2.m_UserState);
WorldPathfinder.Node node3 = null;
foreach (WorldPathfinder.Node node4 in this.m_OpenList)
{
if (node4.m_UserState.IsSameState(node2.m_UserState))
{
node3 = node4;
break;
}
}
if (node3 == null || node3.g > num)
{
int num2 = -1;
int count2 = this.m_ClosedList.Count;
for (int j = 0; j < count2; j++)
{
if (this.m_ClosedList[j].m_UserState.IsSameState(node2.m_UserState))
{
num2 = j;
break;
}
}
if (num2 < 0 || this.m_ClosedList[num2].g > num)
{
node2.parent = value;
node2.g = num;
node2.h = node2.m_UserState.GetGoalHeuristic(this);
node2.f = node2.g + node2.h;
if (num2 >= 0)
{
this.m_ClosedList.RemoveAt(num2);
}
if (node3 != null)
{
this.m_OpenList.Remove(node3);
}
this.SortedAddToOpenList(node2);
}
}
}
this.m_ClosedList.Add(value);
return(this.m_State);
}
