public override void Update()
{
// update all cells
for (int i = 0; i < CellIndices.NumGridCells; i++)
{
// get x,y position from index
var position = CellIndices.IndexToCell(i);
// paint it... brownish?
texture.SetPixel(position.x, position.z, Find.Map.terrainGrid.TerrainAt(i).color);
}
}
public override void Update()
{
// get the fog grid
var fog = Find.Map.fogGrid.fogGrid;
// loop over all cells
for (int i = 0; i < CellIndices.NumGridCells; i++)
{
// set pixel color
var pos = CellIndices.IndexToCell(i);
texture.SetPixel(pos.x, pos.z, fog[i] ? Color.gray : Color.clear);
}
}
public static PawnPath FinalizedPath2(int finalIndex, bool usedRegionHeuristics, CellIndices cellIndices, PathFinderNodeFast[] calcGrid)
{
//HACK - fix pool
//PawnPath emptyPawnPath = map(__instance).pawnPathPool.GetEmptyPawnPath();
PawnPath emptyPawnPath = new PawnPath();
int num = finalIndex;
while (true)
{
int parentIndex = calcGrid[num].parentIndex;
emptyPawnPath.AddNode(cellIndices.IndexToCell(num));
if (num == parentIndex)
{
break;
}
num = parentIndex;
}
emptyPawnPath.SetupFound(calcGrid[finalIndex].knownCost, usedRegionHeuristics);
return(emptyPawnPath);
}
public (PawnPath path, bool found) FindVehiclePath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, CancellationToken token, PathEndMode peMode = PathEndMode.OnCell, bool waterPathing = false)
{
if (report)
{
Debug.Message($"{VehicleHarmony.LogLabel} MainPath for {traverseParms.pawn.LabelShort} - ThreadId: [{Thread.CurrentThread.ManagedThreadId}] TaskId: [{Task.CurrentId}]");
}
postCalculatedCells.Clear();
VehicleMapping VehicleMapping = map.GetCachedMapComponent <VehicleMapping>();
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
VehiclePawn pawn = traverseParms.pawn as VehiclePawn;
if (!pawn.IsBoat() && waterPathing)
{
Log.Error($"Set to waterPathing but {pawn.LabelShort} is not registered as a Boat. Self Correcting...");
waterPathing = false;
}
if (!(pawn is null) && pawn.Map != map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindVehiclePath for pawn which is spawned in another map. Their map PathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", map
}));
return(PawnPath.NotFound, false);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}));
return(PawnPath.NotFound, false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}));
return(PawnPath.NotFound, false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (waterPathing)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!ReachabilityUtility.CanReach(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
}
else
{
if (waterPathing)
{
if (!VehicleMapping.VehicleReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
}
cellIndices = map.cellIndices;
VehiclePathGrid = VehicleMapping.VehiclePathGrid;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = cellIndices.CellToIndex(start);
int num2 = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn is null) ? null : pawn.GetAvoidGrid(true);
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] boatsArray = VehiclePathGrid.pathGrid;
int[] vehicleArray = pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(VehicleGridsUtility.GetRegion(start, map, RegionType.Set_Passable) is null) && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = !(pawn is null) && pawn.Drafted;
bool flag11 = !(pawn is null) && !(pawn is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref num, start);
Rot8 rot = pawn.FullRotation;
int iterations = 0;
for (;;)
{
if (token.IsCancellationRequested)
{
return(PawnPath.NotFound, false);
}
iterations++;
if (openList.Count <= 0)
{
break;
}
num6 += openList.Count;
num7++;
CostNode costNode = openList.Pop();
num = costNode.index;
if (costNode.cost == calcGrid[num].costNodeCost && calcGrid[num].status != statusClosedValue)
{
IntVec3 c = cellIndices.IndexToCell(num);
IntVec3 prevCell = c;
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, calcGrid[num].knownCost / 1500f, calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(num))
{
goto Block_32;
}
if (num3 > SearchLimit)
{
goto Block_33;
}
List <IntVec3> fullRectCells = CellRect.CenteredOn(c, pawn.def.size.x, pawn.def.size.z).Where(cl2 => cl2 != c).ToList();
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + Directions[i]); //x
uint num12 = (uint)(z2 + Directions[i + 8]); //y
if (num11 < ((ulong)mapSizeX) && num12 < (ulong)(mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = cellIndices.CellToIndex(num13, num14);
IntVec3 cellToCheck = cellIndices.IndexToCell(num15);
if (VehicleMod.settings.main.fullVehiclePathing && pawn.LocationRestrictedBySize(cellToCheck))
{
goto EndPathing;
}
if (calcGrid[num15].status != statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false; //Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(map).HasTag("Water"))
{
if (waterPathing)
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
else
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
if (i > 3)
{
switch (i)
{
case 4:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
//if (Rot8.DirectionFromCells(prevCell, cellToCheck) != rot)
//{
// Log.Message("Additional Cost");
// num17 += ChangeDirectionAdditionalCost;
//}
if (!flag12 && !waterPathing)
{
//Extra Terrain costs
if (pawn.VehicleDef.properties.customTerrainCosts?.NotNullAndAny() ?? false)
{
TerrainDef currentTerrain = map.terrainGrid.TerrainAt(num15);
if (pawn.VehicleDef.properties.customTerrainCosts.ContainsKey(currentTerrain))
{
int customCost = pawn.VehicleDef.properties.customTerrainCosts[currentTerrain];
if (customCost < 0)
{
goto EndPathing;
}
num17 += customCost;
}
else
{
num17 += vehicleArray[num15];
}
}
else
{
num17 += vehicleArray[num15];
}
num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
}
if (byteGrid != null)
{
num17 += (byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && MultithreadHelper.AnyVehicleBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true) != null)
{
num17 += Cost_PawnCollision;
}
Building building2 = edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
if (blueprintGrid[num15] != null)
{
List <Blueprint> list = new List <Blueprint>(blueprintGrid[num15]);
if (!list.NullOrEmpty())
{
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
goto EndPathing;
}
num17 += num18;
}
}
int num19 = num17 + calcGrid[num].knownCost;
ushort status = calcGrid[num15].status;
//if(pawn.Props.useFullHitboxPathing)
//{
// foreach(IntVec3 fullRect in fullRectCells)
// {
// if(fullRect != cellToCheck)
// {
// num19 += calcGrid[cellIndices.CellToIndex(fullRect)].knownCost;
// Log.Message($"Cell: {fullRect} Cost: {num19}");
// if(postCalculatedCells.ContainsKey(fullRect))
// {
// postCalculatedCells[fullRect] = num19;
// }
// else
// {
// postCalculatedCells.Add(fullRect, num19);
// }
// }
// }
//}
//Only generate path costs for linear non-reverse pathing check
if (report)
{
if (postCalculatedCells.ContainsKey(cellToCheck))
{
postCalculatedCells[cellToCheck] = num19;
}
else
{
postCalculatedCells.Add(cellToCheck, num19);
}
}
if (waterPathing && !map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == statusClosedValue || status == statusOpenValue)
{
int num20 = 0;
if (status == statusClosedValue)
{
num20 = num9;
}
if (calcGrid[num15].knownCost <= num19 + num20)
{
goto EndPathing;
}
}
if (flag9)
{
calcGrid[num15].heuristicCost = waterPathing ? Mathf.RoundToInt(regionCostCalculatorSea.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4)) : Mathf.RoundToInt(regionCostCalculatorLand.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4));
if (calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for vehicle ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009);
calcGrid[num15].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + calcGrid[num15].heuristicCost;
if (num22 < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Node cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 87865822);
num22 = 0;
}
calcGrid[num15].parentIndex = num;
calcGrid[num15].knownCost = num19;
calcGrid[num15].status = statusOpenValue;
calcGrid[num15].costNodeCost = num22;
num4++;
rot = Rot8.DirectionFromCells(prevCell, cellToCheck);
openList.Push(new CostNode(num15, num22));
}
}
}
EndPathing :;
}
num3++;
calcGrid[num].status = statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
if (waterPathing)
{
regionCostCalculatorSea.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
else
{
regionCostCalculatorLand.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = ((pawn is null) || pawn.CurJob is null) ? "null" : pawn.CurJob.ToString();
string text2 = ((pawn is null) || pawn.Faction is null) ? "null" : pawn.Faction.ToString();
if (report)
{
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2,
"\niterations: ", iterations
}));
}
DebugDrawRichData();
return(PawnPath.NotFound, false);
Block_32:
PawnPath result = PawnPath.NotFound;
if (report)
{
result = FinalizedPath(num, flag9);
}
DebugDrawPathCost();
return(result, true);
Block_33:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}));
DebugDrawRichData();
return(PawnPath.NotFound, false);
}
public static bool FloodFill(FloodFiller __instance,
IntVec3 root,
Predicate <IntVec3> passCheck,
Func <IntVec3, int, bool> processor,
int maxCellsToProcess = 2147483647,
bool rememberParents = false,
IEnumerable <IntVec3> extraRoots = null)
{
lock (__instance)
{
if (working(__instance))
{
Log.Error("Nested FloodFill calls are not allowed. This will cause bugs.", false);
}
working(__instance) = true;
ClearVisited(__instance);
if (rememberParents && parentGrid(__instance) == null)
{
parentGrid(__instance) = new CellGrid(map(__instance));
}
if (root.IsValid && extraRoots == null && !passCheck(root))
{
if (rememberParents)
{
parentGrid(__instance)[root] = IntVec3.Invalid;
}
working(__instance) = false;
}
else
{
int area = map(__instance).Area;
IntVec3[] directionsAround = GenAdj.CardinalDirectionsAround;
int length = directionsAround.Length;
CellIndices cellIndices = map(__instance).cellIndices;
int num1 = 0;
openSet(__instance).Clear();
if (root.IsValid)
{
int index = cellIndices.CellToIndex(root);
visited(__instance).Add(index);
traversalDistance(__instance)[index] = 0;
openSet(__instance).Enqueue(root);
}
if (extraRoots != null)
{
if (extraRoots is IList <IntVec3> intVec3List)
{
for (int index1 = 0; index1 < intVec3List.Count; ++index1)
{
int index2 = cellIndices.CellToIndex(intVec3List[index1]);
visited(__instance).Add(index2);
traversalDistance(__instance)[index2] = 0;
openSet(__instance).Enqueue(intVec3List[index1]);
}
}
else
{
foreach (IntVec3 extraRoot in extraRoots)
{
int index = cellIndices.CellToIndex(extraRoot);
visited(__instance).Add(index);
traversalDistance(__instance)[index] = 0;
openSet(__instance).Enqueue(extraRoot);
}
}
}
if (rememberParents)
{
for (int index = 0; index < visited(__instance).Count; ++index)
{
IntVec3 cell = cellIndices.IndexToCell(visited(__instance)[index]);
parentGrid(__instance)[visited(__instance)[index]] = passCheck(cell) ? cell : IntVec3.Invalid;
}
}
while (openSet(__instance).Count > 0)
{
IntVec3 c1 = openSet(__instance).Dequeue();
int num2 = traversalDistance(__instance)[cellIndices.CellToIndex(c1)];
if (!processor(c1, num2))
{
++num1;
if (num1 != maxCellsToProcess)
{
for (int index1 = 0; index1 < length; ++index1)
{
IntVec3 c2 = c1 + directionsAround[index1];
int index2 = cellIndices.CellToIndex(c2);
if (c2.InBounds(map(__instance)) && traversalDistance(__instance)[index2] == -1 && passCheck(c2))
{
visited(__instance).Add(index2);
openSet(__instance).Enqueue(c2);
traversalDistance(__instance)[index2] = num2 + 1;
if (rememberParents)
{
parentGrid(__instance)[index2] = c1;
}
}
}
if (openSet(__instance).Count > area)
{
Log.Error("Overflow on flood fill (>" + (object)area + " cells). Make sure we're not flooding over the same area after we check it.", false);
working(__instance) = false;
return(false);
}
}
else
{
break;
}
}
else
{
break;
}
}
working(__instance) = false;
}
}
return(false);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Warning(String.Format("Map object was rebuilt, but new pather was not assigned to new map (new {0}) (old {1})", pawn.Map.uniqueID, map.uniqueID));
Log.Error("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=" + pawn + " pawn.Map=" + pawn.Map + " map=" + map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + (dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = (!flag && start.GetRegion(map) != null) & flag2;
bool flag7 = !flag || !flag3;
bool flag8 = false;
bool flag9 = pawn?.Drafted ?? false;
int num4 = (pawn?.IsColonist ?? false) ? 100000 : 2000;
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
// BEGIN CHANGED SECTION
// In case pawn is null
int num8 = 13;
int num9 = 18;
Dictionary <TerrainDef, int> pawnTerrainCacheCardinal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, int> pawnTerrainCacheDiagonal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, bool> pawnSpecialMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, bool> pawnImpassibleMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, int> pawnTerrainMovementCache = new Dictionary <TerrainDef, int>();
// END CHANGED SECTION
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = (pawn != null && pawn.CurJob != null) ? pawn.CurJob.ToString() : "null";
string text2 = (pawn != null && pawn.Faction != null) ? pawn.Faction.ToString() : "null";
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result2);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 >= mapSizeX || num11 >= mapSizeZ)
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
// BEGIN CHANGED SECTION
IntVec3 targetCell = new IntVec3(num12, 0, num13);
TerrainDef targetTerrain = topGrid[num14];
if (pawn != null)
{
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnImpassibleMovementCache.TryGetValue(targetTerrain, out bool impassible))
{
impassible = pawn.kindDef.UnreachableTerrainCheck(targetTerrain);
pawnImpassibleMovementCache[targetTerrain] = impassible;
}
if (impassible)
{
// Skip this cell for pathing calculations
calcGrid[num14].status = statusClosedValue;
continue;
}
// Overwrite directional move costs
if (!pawnTerrainCacheCardinal.TryGetValue(targetTerrain, out num8))
{
num8 = pawn.TerrainAwareTicksPerMoveCardinal(targetTerrain);
pawnTerrainCacheCardinal[targetTerrain] = num8;
}
if (!pawnTerrainCacheDiagonal.TryGetValue(targetTerrain, out num9))
{
num9 = pawn.TerrainAwareTicksPerMoveDiagonal(targetTerrain);
pawnTerrainCacheDiagonal[targetTerrain] = num9;
}
}
// END CHANGED SECTION
int num15 = 0;
bool flag10 = false;
//if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
if (!flag2 && targetTerrain.HasTag("Water"))
{
continue;
}
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = (i > 3) ? num9 : num8;
num16 += num15;
if (!flag10)
{
// BEGIN CHANGED SECTION
//num16 += array[num14];
//num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
if (pawn == null)
{
num16 += array[num14];
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
else
{
// Use cache of terrain perceived cost instead of fixed pathCost grid to avoid a lot of repeated computation while maintaining accuracy
if (!pawnTerrainMovementCache.TryGetValue(targetTerrain, out int terrainMoveCost))
{
terrainMoveCost = pawn.TerrainMoveCost(targetTerrain);
pawnTerrainMovementCache[targetTerrain] = terrainMoveCost;
}
// This was really really expensive, so we opted to mod this pre-calced value
//num16 += pathGrid.TerrainCalculatedCostAt(map, pawn, targetCell, true, IntVec3.Invalid, terrainMoveCost);
num16 += pathGrid.ApplyTerrainModToCalculatedCost(targetTerrain, array[num14], terrainMoveCost);
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnSpecialMovementCache.TryGetValue(targetTerrain, out bool specialMovement))
{
specialMovement = pawn.TerrainMoveStat(targetTerrain) != StatDefOf.MoveSpeed;
pawnSpecialMovementCache[targetTerrain] = specialMovement;
}
// Skip applying the PerceivedPathCost hack if we've got a specialized speed stat for this terrain
if (!specialMovement)
{
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
}
// END CHANGED SECTION
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
//new IntVec3(num12, 0, num13) -> targetCell
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(targetCell, pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
continue;
}
}
if (flag8)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate(num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce("Heuristic cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce("Node cost overflow for " + pawn.ToStringSafe() + " pathing from " + start + " to " + dest + ".", pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
public static bool FloodFill(FloodFiller __instance,
IntVec3 root,
Predicate <IntVec3> passCheck,
Func <IntVec3, int, bool> processor,
int maxCellsToProcess = 2147483647,
bool rememberParents = false,
IEnumerable <IntVec3> extraRoots = null)
{
lock (__instance)
{
if (__instance.working)
{
Log.Error("Nested FloodFill calls are not allowed. This will cause bugs.");
}
__instance.working = true;
__instance.ClearVisited();
if (rememberParents && __instance.parentGrid == null)
{
__instance.parentGrid = new CellGrid(__instance.map);
}
if (root.IsValid && extraRoots == null && !passCheck(root))
{
if (rememberParents)
{
__instance.parentGrid[root] = IntVec3.Invalid;
}
__instance.working = false;
}
else
{
int area = __instance.map.Area;
IntVec3[] directionsAround = GenAdj.CardinalDirectionsAround;
int length = directionsAround.Length;
CellIndices cellIndices = __instance.map.cellIndices;
int num1 = 0;
__instance.openSet.Clear();
if (root.IsValid)
{
int index = cellIndices.CellToIndex(root);
__instance.visited.Add(index);
__instance.traversalDistance[index] = 0;
__instance.openSet.Enqueue(root);
}
if (extraRoots != null)
{
if (extraRoots is IList <IntVec3> intVec3List)
{
for (int index1 = 0; index1 < intVec3List.Count; ++index1)
{
int index2 = cellIndices.CellToIndex(intVec3List[index1]);
__instance.visited.Add(index2);
__instance.traversalDistance[index2] = 0;
__instance.openSet.Enqueue(intVec3List[index1]);
}
}
else
{
foreach (IntVec3 extraRoot in extraRoots)
{
int index = cellIndices.CellToIndex(extraRoot);
__instance.visited.Add(index);
__instance.traversalDistance[index] = 0;
__instance.openSet.Enqueue(extraRoot);
}
}
}
if (rememberParents)
{
for (int index = 0; index < __instance.visited.Count; ++index)
{
IntVec3 cell = cellIndices.IndexToCell(__instance.visited[index]);
__instance.parentGrid[__instance.visited[index]] = passCheck(cell) ? cell : IntVec3.Invalid;
}
}
while (__instance.openSet.Count > 0)
{
IntVec3 c1 = __instance.openSet.Dequeue();
int num2 = __instance.traversalDistance[cellIndices.CellToIndex(c1)];
if (!processor(c1, num2))
{
++num1;
if (num1 != maxCellsToProcess)
{
for (int index1 = 0; index1 < length; ++index1)
{
IntVec3 c2 = c1 + directionsAround[index1];
int index2 = cellIndices.CellToIndex(c2);
if (!c2.InBounds(__instance.map) || __instance.traversalDistance[index2] != -1 ||
!passCheck(c2))
{
continue;
}
__instance.visited.Add(index2);
__instance.openSet.Enqueue(c2);
__instance.traversalDistance[index2] = num2 + 1;
if (rememberParents)
{
__instance.parentGrid[index2] = c1;
}
}
if (__instance.openSet.Count <= area)
{
continue;
}
Log.Error("Overflow on flood fill (>" + area + " cells). Make sure we're not flooding over the same area after we check it.");
__instance.working = false;
return(false);
}
}
break;
}
__instance.working = false;
}
}
return(false);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Error(string.Concat("Tried to FindPath for pawn which is spawned in another map. His map PathFinder should have been used, not this one. pawn=", pawn, " pawn.Map=", pawn.Map, " map=", map));
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid start ", start, ", pawn= ", pawn));
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid dest ", dest, ", pawn= ", pawn));
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = !flag && start.GetRegion(map) != null && flag2;
bool flag7 = !flag || !flag3;
bool flag8 = false;
bool flag9 = pawn?.Drafted ?? false;
int num4 = ((pawn?.IsColonist ?? false) ? 100000 : 2000);
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = ((pawn != null && pawn.CurJob != null) ? pawn.CurJob.ToString() : "null");
string text2 = ((pawn != null && pawn.Faction != null) ? pawn.Faction.ToString() : "null");
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " ran out of cells to process.\nJob:", text, "\nFaction: ", text2));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result2);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 >= mapSizeX || num11 >= mapSizeZ)
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
int num15 = 0;
bool flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
{
continue;
}
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = ((i > 3) ? num9 : num8);
num16 += num15;
if (!flag10)
{
num16 += array[num14];
num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
continue;
}
}
if (flag8)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate(num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat("Heuristic cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce(string.Concat("Node cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}