public static bool FindPath(PathFinder __instance, ref PawnPath __result, 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 != __instance.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=", __instance.map));
__result = PawnPath.NotFound;
return(false);
}
if (!start.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid start ", start, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid dest ", dest, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
#if RW12
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
#endif
#if RW13
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBashDoors, traverseParms.canBashFences, traverseParms.mode))
#endif
{
__result = PawnPath.NotFound;
return(false);
}
}
else if (!__instance.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
__result = PawnPath.NotFound;
return(false);
}
__instance.PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, dest.HasThing ? (" at " + dest.Cell) : ""));
__instance.cellIndices = __instance.map.cellIndices;
#if RW12
__instance.pathGrid = __instance.map.pathGrid;
#endif
#if RW13
__instance.pathingContext = __instance.map.pathing.For(traverseParms);
__instance.pathGrid = __instance.pathingContext.pathGrid;
#endif
__instance.edificeGrid = __instance.map.edificeGrid.InnerArray;
__instance.blueprintGrid = __instance.map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = __instance.cellIndices.CellToIndex(start);
int num = __instance.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 destinationRect = __instance.CalculateDestinationRect(dest, peMode);
bool flag4 = destinationRect.Width == 1 && destinationRect.Height == 1;
#if RW12
int[] array = __instance.map.pathGrid.pathGrid;
#endif
#if RW13
int[] array = __instance.pathGrid.pathGrid;
#endif
TerrainDef[] topGrid = __instance.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = __instance.map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = __instance.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = !flag && start.GetRegion(__instance.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 = __instance.DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
#if RW12
__instance.CalculateAndAddDisallowedCorners(traverseParms, peMode, destinationRect);
#endif
#if RW13
__instance.CalculateAndAddDisallowedCorners(peMode, destinationRect);
#endif
__instance.InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
__instance.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));
__instance.DebugDrawRichData();
__instance.PfProfilerEndSample();
__instance.PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
num5 += openList.Count;
num6++;
PathFinder.CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
__instance.PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
__instance.PfProfilerEndSample();
continue;
}
IntVec3 c = __instance.cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
__instance.PfProfilerEndSample();
PawnPath result = __instance.FinalizedPath(curIndex, flag8);
__instance.PfProfilerEndSample();
__result = result;
return(false);
}
}
else if (destinationRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
__instance.PfProfilerEndSample();
PawnPath result2 = __instance.FinalizedPath(curIndex, flag8);
__instance.PfProfilerEndSample();
__result = result2;
return(false);
}
if (num2 > 160000)
{
break;
}
__instance.PfProfilerEndSample();
__instance.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + PathFinder.Directions[i]);
uint num11 = (uint)(z2 + PathFinder.Directions[i + 8]);
if (num10 >= __instance.mapSizeX || num11 >= __instance.mapSizeZ)
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = __instance.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(__instance.map).HasTag("Water"))
{
continue;
}
if (!__instance.pathGrid.WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !PathFinder.IsDestroyable(building))
{
continue;
}
num15 += (int)(building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (__instance.BlocksDiagonalMovement(curIndex - __instance.mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (__instance.BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (__instance.BlocksDiagonalMovement(curIndex + __instance.mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (__instance.BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (__instance.BlocksDiagonalMovement(curIndex + __instance.mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (__instance.BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (__instance.BlocksDiagonalMovement(curIndex - __instance.mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (__instance.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 = __instance.edificeGrid[num14];
if (building2 != null)
{
__instance.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
__instance.PfProfilerEndSample();
continue;
}
num16 += buildingCost;
__instance.PfProfilerEndSample();
}
List <Blueprint> list = __instance.blueprintGrid[num14];
if (list != null)
{
__instance.PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
__instance.PfProfilerEndSample();
continue;
}
num16 += num17;
__instance.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(__instance.regionCostCalculator.GetPathCostFromDestToRegion(num14) * PathFinder.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(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 PathFinder.CostNode(num14, num21));
}
__instance.PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
__instance.regionCostCalculator.Init(destinationRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndices);
__instance.InitStatusesAndPushStartNode(ref curIndex, start);
openList.Clear();
openList.Push(new PathFinder.CostNode(curIndex, 0));
num3 = 0;
num2 = 0;
}
}
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
__instance.DebugDrawRichData();
__instance.PfProfilerEndSample();
__instance.PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
