public WorldPath FindPath(int startTile, int destTile, Caravan caravan, Func <float, bool> terminator = null)
{
if (startTile < 0)
{
Log.Error("Tried to FindPath with invalid start tile " + startTile + ", caravan= " + caravan);
return(WorldPath.NotFound);
}
if (destTile < 0)
{
Log.Error("Tried to FindPath with invalid dest tile " + destTile + ", caravan= " + caravan);
return(WorldPath.NotFound);
}
if (caravan != null)
{
if (!caravan.CanReach(destTile))
{
return(WorldPath.NotFound);
}
}
else if (!Find.WorldReachability.CanReach(startTile, destTile))
{
return(WorldPath.NotFound);
}
World world = Find.World;
WorldGrid grid = world.grid;
List <int> tileIDToNeighbors_offsets = grid.tileIDToNeighbors_offsets;
List <int> tileIDToNeighbors_values = grid.tileIDToNeighbors_values;
Vector3 normalized = grid.GetTileCenter(destTile).normalized;
float[] movementDifficulty = world.pathGrid.movementDifficulty;
int num = 0;
int num2 = caravan?.TicksPerMove ?? 3300;
int num3 = CalculateHeuristicStrength(startTile, destTile);
statusOpenValue += 2;
statusClosedValue += 2;
if (statusClosedValue >= 65435)
{
ResetStatuses();
}
calcGrid[startTile].knownCost = 0;
calcGrid[startTile].heuristicCost = 0;
calcGrid[startTile].costNodeCost = 0;
calcGrid[startTile].parentTile = startTile;
calcGrid[startTile].status = statusOpenValue;
openList.Clear();
openList.Push(new CostNode(startTile, 0));
while (true)
{
if (openList.Count <= 0)
{
Log.Warning(caravan + " pathing from " + startTile + " to " + destTile + " ran out of tiles to process.");
return(WorldPath.NotFound);
}
CostNode costNode = openList.Pop();
if (costNode.cost != calcGrid[costNode.tile].costNodeCost)
{
continue;
}
int tile = costNode.tile;
if (calcGrid[tile].status == statusClosedValue)
{
continue;
}
if (tile == destTile)
{
return(FinalizedPath(tile));
}
if (num > 500000)
{
Log.Warning(caravan + " pathing from " + startTile + " to " + destTile + " hit search limit of " + 500000 + " tiles.");
return(WorldPath.NotFound);
}
int num4 = (tile + 1 < tileIDToNeighbors_offsets.Count) ? tileIDToNeighbors_offsets[tile + 1] : tileIDToNeighbors_values.Count;
for (int i = tileIDToNeighbors_offsets[tile]; i < num4; i++)
{
int num5 = tileIDToNeighbors_values[i];
if (calcGrid[num5].status == statusClosedValue || world.Impassable(num5))
{
continue;
}
int num6 = (int)((float)num2 * movementDifficulty[num5] * grid.GetRoadMovementDifficultyMultiplier(tile, num5)) + calcGrid[tile].knownCost;
ushort status = calcGrid[num5].status;
if ((status != statusClosedValue && status != statusOpenValue) || calcGrid[num5].knownCost > num6)
{
Vector3 tileCenter = grid.GetTileCenter(num5);
if (status != statusClosedValue && status != statusOpenValue)
{
float num7 = grid.ApproxDistanceInTiles(GenMath.SphericalDistance(tileCenter.normalized, normalized));
calcGrid[num5].heuristicCost = Mathf.RoundToInt((float)num2 * num7 * (float)num3 * 0.5f);
}
int num8 = num6 + calcGrid[num5].heuristicCost;
calcGrid[num5].parentTile = tile;
calcGrid[num5].knownCost = num6;
calcGrid[num5].status = statusOpenValue;
calcGrid[num5].costNodeCost = num8;
openList.Push(new CostNode(num5, num8));
}
}
num++;
calcGrid[tile].status = statusClosedValue;
if (terminator != null && terminator(calcGrid[tile].costNodeCost))
{
break;
}
}
return(WorldPath.NotFound);
}
public WorldPath FindPath(int startTile, int destTile, Caravan caravan, Func <float, bool> terminator = null)
{
if (startTile < 0)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start tile ",
startTile,
", caravan= ",
caravan
}), false);
return(WorldPath.NotFound);
}
if (destTile < 0)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest tile ",
destTile,
", caravan= ",
caravan
}), false);
return(WorldPath.NotFound);
}
if (caravan != null)
{
if (!caravan.CanReach(destTile))
{
return(WorldPath.NotFound);
}
}
else if (!Find.WorldReachability.CanReach(startTile, destTile))
{
return(WorldPath.NotFound);
}
World world = Find.World;
WorldGrid grid = world.grid;
List <int> tileIDToNeighbors_offsets = grid.tileIDToNeighbors_offsets;
List <int> tileIDToNeighbors_values = grid.tileIDToNeighbors_values;
Vector3 normalized = grid.GetTileCenter(destTile).normalized;
float[] movementDifficulty = world.pathGrid.movementDifficulty;
int num = 0;
int num2 = (caravan == null) ? 3300 : caravan.TicksPerMove;
int num3 = this.CalculateHeuristicStrength(startTile, destTile);
this.statusOpenValue += 2;
this.statusClosedValue += 2;
if (this.statusClosedValue >= 65435)
{
this.ResetStatuses();
}
this.calcGrid[startTile].knownCost = 0;
this.calcGrid[startTile].heuristicCost = 0;
this.calcGrid[startTile].costNodeCost = 0;
this.calcGrid[startTile].parentTile = startTile;
this.calcGrid[startTile].status = this.statusOpenValue;
this.openList.Clear();
this.openList.Push(new WorldPathFinder.CostNode(startTile, 0));
while (this.openList.Count > 0)
{
WorldPathFinder.CostNode costNode = this.openList.Pop();
if (costNode.cost == this.calcGrid[costNode.tile].costNodeCost)
{
int tile = costNode.tile;
if (this.calcGrid[tile].status != this.statusClosedValue)
{
if (DebugViewSettings.drawPaths)
{
Find.WorldDebugDrawer.FlashTile(tile, (float)this.calcGrid[tile].knownCost / 375000f, this.calcGrid[tile].knownCost.ToString(), 50);
}
if (tile == destTile)
{
return(this.FinalizedPath(tile));
}
if (num > 500000)
{
Log.Warning(string.Concat(new object[]
{
caravan,
" pathing from ",
startTile,
" to ",
destTile,
" hit search limit of ",
500000,
" tiles."
}), false);
return(WorldPath.NotFound);
}
int num4 = (tile + 1 >= tileIDToNeighbors_offsets.Count) ? tileIDToNeighbors_values.Count : tileIDToNeighbors_offsets[tile + 1];
for (int i = tileIDToNeighbors_offsets[tile]; i < num4; i++)
{
int num5 = tileIDToNeighbors_values[i];
if (this.calcGrid[num5].status != this.statusClosedValue)
{
if (!world.Impassable(num5))
{
int num6 = (int)((float)num2 * movementDifficulty[num5] * grid.GetRoadMovementDifficultyMultiplier(tile, num5, null));
int num7 = num6 + this.calcGrid[tile].knownCost;
ushort status = this.calcGrid[num5].status;
if ((status != this.statusClosedValue && status != this.statusOpenValue) || this.calcGrid[num5].knownCost > num7)
{
Vector3 tileCenter = grid.GetTileCenter(num5);
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
float num8 = grid.ApproxDistanceInTiles(GenMath.SphericalDistance(tileCenter.normalized, normalized));
this.calcGrid[num5].heuristicCost = Mathf.RoundToInt((float)num2 * num8 * (float)num3 * 0.5f);
}
int num9 = num7 + this.calcGrid[num5].heuristicCost;
this.calcGrid[num5].parentTile = tile;
this.calcGrid[num5].knownCost = num7;
this.calcGrid[num5].status = this.statusOpenValue;
this.calcGrid[num5].costNodeCost = num9;
this.openList.Push(new WorldPathFinder.CostNode(num5, num9));
}
}
}
}
num++;
this.calcGrid[tile].status = this.statusClosedValue;
if (terminator != null && terminator((float)this.calcGrid[tile].costNodeCost))
{
return(WorldPath.NotFound);
}
}
}
}
Log.Warning(string.Concat(new object[]
{
caravan,
" pathing from ",
startTile,
" to ",
destTile,
" ran out of tiles to process."
}), false);
return(WorldPath.NotFound);
}
