public void PatherTick()
{
if (this.WillCollideWithPawnAt(this.pawn.Position))
{
if (!this.FailedToFindCloseUnoccupiedCellRecently())
{
IntVec3 intVec;
if (CellFinder.TryFindBestPawnStandCell(this.pawn, out intVec, true) && intVec != this.pawn.Position)
{
this.pawn.Position = intVec;
this.ResetToCurrentPosition();
if (this.moving && this.TrySetNewPath())
{
this.TryEnterNextPathCell();
}
}
else
{
this.failedToFindCloseUnoccupiedCellTicks = Find.TickManager.TicksGame;
}
}
return;
}
if (this.pawn.stances.FullBodyBusy)
{
return;
}
if (!this.moving || !this.WillCollideWithPawnOnNextPathCell())
{
this.lastMovedTick = Find.TickManager.TicksGame;
if (this.nextCellCostLeft > 0f)
{
this.nextCellCostLeft -= this.CostToPayThisTick();
}
else if (this.moving)
{
this.TryEnterNextPathCell();
}
return;
}
this.nextCellCostLeft = this.nextCellCostTotal;
if (((this.curPath != null && this.curPath.NodesLeftCount < 30) || PawnUtility.AnyPawnBlockingPathAt(this.nextCell, this.pawn, false, true, false)) && !this.BestPathHadPawnsInTheWayRecently() && this.TrySetNewPath())
{
this.ResetToCurrentPosition();
this.TryEnterNextPathCell();
return;
}
if (Find.TickManager.TicksGame - this.lastMovedTick >= 180)
{
Pawn pawn = PawnUtility.PawnBlockingPathAt(this.nextCell, this.pawn, false, false, false);
if (pawn != null && this.pawn.HostileTo(pawn) && this.pawn.TryGetAttackVerb(pawn, false) != null)
{
Job job = new Job(JobDefOf.AttackMelee, pawn);
job.maxNumMeleeAttacks = 1;
job.expiryInterval = 300;
this.pawn.jobs.StartJob(job, JobCondition.Incompletable, null, false, true, null, null, false);
return;
}
}
}
private bool TrySetNewPath()
{
PawnPath pawnPath = this.GenerateNewPath();
if (!pawnPath.Found)
{
this.PatherFailed();
return(false);
}
if (this.curPath != null)
{
this.curPath.ReleaseToPool();
}
this.curPath = pawnPath;
int num = 0;
while (num < 20 && num < this.curPath.NodesLeftCount)
{
IntVec3 c = this.curPath.Peek(num);
if (PawnUtility.ShouldCollideWithPawns(this.pawn) && PawnUtility.AnyPawnBlockingPathAt(c, this.pawn, false, false, false))
{
this.foundPathWhichCollidesWithPawns = Find.TickManager.TicksGame;
}
if (PawnUtility.KnownDangerAt(c, this.pawn.Map, this.pawn))
{
this.foundPathWithDanger = Find.TickManager.TicksGame;
}
if (this.foundPathWhichCollidesWithPawns == Find.TickManager.TicksGame && this.foundPathWithDanger == Find.TickManager.TicksGame)
{
break;
}
num++;
}
return(true);
}
private static IAttackTarget FindBestReachableMeleeTarget(Predicate <IAttackTarget> validator, Pawn searcherPawn, float maxTargDist, bool canBash)
{
maxTargDist = Mathf.Min(maxTargDist, 30f);
IAttackTarget reachableTarget = null;
Func <IntVec3, IAttackTarget> bestTargetOnCell = delegate(IntVec3 x)
{
List <Thing> thingList = x.GetThingList(searcherPawn.Map);
for (int j = 0; j < thingList.Count; j++)
{
Thing thing = thingList[j];
IAttackTarget attackTarget2 = thing as IAttackTarget;
if (attackTarget2 != null && validator(attackTarget2) &&
ReachabilityImmediate.CanReachImmediate(x, thing, searcherPawn.Map, PathEndMode.Touch, searcherPawn) &&
(searcherPawn.CanReachImmediate(thing, PathEndMode.Touch) ||
searcherPawn.Map.attackTargetReservationManager.CanReserve(searcherPawn, attackTarget2)))
{
return(attackTarget2);
}
}
return(null);
};
searcherPawn.Map.floodFiller.FloodFill(searcherPawn.Position, delegate(IntVec3 x)
{
if (!x.Walkable(searcherPawn.Map))
{
return(false);
}
if ((float)x.DistanceToSquared(searcherPawn.Position) > maxTargDist * maxTargDist)
{
return(false);
}
if (!canBash)
{
Building_Door building_Door = x.GetEdifice(searcherPawn.Map) as Building_Door;
if (building_Door != null && !building_Door.CanPhysicallyPass(searcherPawn))
{
return(false);
}
}
return((!PawnUtility.AnyPawnBlockingPathAt(x, searcherPawn, actAsIfHadCollideWithPawnsJob: true)) ? true : false);
}, delegate(IntVec3 x)
{
for (int i = 0; i < 8; i++)
{
IntVec3 intVec = x + GenAdj.AdjacentCells[i];
if (intVec.InBounds(searcherPawn.Map))
{
IAttackTarget attackTarget = bestTargetOnCell(intVec);
if (attackTarget != null)
{
reachableTarget = attackTarget;
break;
}
}
}
return(reachableTarget != null);
});
return(reachableTarget);
}
void RepositionColonists()
{
var checkInterval = 15;
var radius = 7f;
var radiusSquared = (int)(radius * radius);
map.mapPawns
.FreeHumanlikesSpawnedOfFaction(Faction.OfPlayer)
.Where(colonist => colonist.IsHashIntervalTick(checkInterval) && RepositionCondition(colonist))
.Do(pawn =>
{
var pos = pawn.Position;
var zombiesNearby = Tools.GetCircle(radius).Select(vec => pos + vec)
.Where(vec => vec.InBounds(map) && avoidGrid.GetCosts()[vec.x + vec.z * map.Size.x] >= 3000)
.SelectMany(vec => map.thingGrid.ThingsListAtFast(vec).OfType <Zombie>())
.Where(zombie => zombie.Downed == false);
var maxDistance = 0;
var safeDestination = IntVec3.Invalid;
map.floodFiller.FloodFill(pos, delegate(IntVec3 vec)
{
if (!vec.Walkable(map))
{
return(false);
}
if ((float)vec.DistanceToSquared(pos) > radiusSquared)
{
return(false);
}
if (map.thingGrid.ThingAt <Zombie>(vec)?.Downed ?? true == false)
{
return(false);
}
if (vec.GetEdifice(map) is Building_Door building_Door && !building_Door.CanPhysicallyPass(pawn))
{
return(false);
}
return(!PawnUtility.AnyPawnBlockingPathAt(vec, pawn, true, false));
}, delegate(IntVec3 vec)
{
var distance = zombiesNearby.Select(zombie => (vec - zombie.Position).LengthHorizontalSquared).Sum();
if (distance > maxDistance)
{
maxDistance = distance;
safeDestination = vec;
}
return(false);
});
if (safeDestination.IsValid)
{
var newJob = new Job(JobDefOf.Goto, safeDestination)
{
playerForced = true
};
pawn.jobs.StartJob(newJob, JobCondition.InterruptForced, null, false, true, null, null);
}
});
}
public override int GetCost(CellRef cell)
{
if (PawnUtility.AnyPawnBlockingPathAt(cell, pawn, false, false, true))
{
return(Cost_PawnCollision);
}
return(0);
}
private bool WillCollideWithPawnAt(IntVec3 c)
{
if (!PawnUtility.ShouldCollideWithPawns(this.pawn))
{
return(false);
}
return(PawnUtility.AnyPawnBlockingPathAt(c, this.pawn, false, false));
}
private short GetTotalPerceivedPathCost(TraverseParms traverseParms, bool canPassAnything, bool shouldCollideWithPawns, Pawn pawn, PawnPathCostSettings pawnPathCosts)
{
int neighCost = 0;
if (!pathGridDirect.WalkableExtraFast(neighIndex))
{
if (!canPassAnything)
{
return(10000);
}
neighCost += 60;
Thing edifice = edificeGrid[neighIndex];
if (edifice == null || !edifice.def.useHitPoints)
{
return(10000);
}
neighCost += (int)(edifice.HitPoints * 0.1f);
}
else
{
neighCost += pathGridDirect[neighIndex];
}
if (shouldCollideWithPawns && PawnUtility.AnyPawnBlockingPathAt(map.cellIndices.IndexToCell(neighIndex), pawn))
{
neighCost += 800;
}
Building building = edificeGrid[neighIndex];
if (building != null)
{
int cost = GetPathCostForBuilding(building, traverseParms);
if (cost < 0)
{
return(10000);
}
neighCost += cost;
}
if (pawnPathCosts.avoidGrid != null)
{
neighCost += pawnPathCosts.avoidGrid[neighIndex] * 8;
}
if (pawnPathCosts.area?[neighIndex] == false)
{ //Allowed area path cost switched from adding a constant to multiplying the path cost
//Mostly this was to reduce reopens when very high path cost nodes get explored greedily (like trees)
//But I would imagine the player would generally prefer their pawns not spend ages walking over several trees
//just to get a path one tile shorter.
neighCost = (Math.Max(neighCost, 10) + moveTicksCardinal * 2) * 10;
}
return((short)Math.Min(neighCost, 9999));
}
public static bool TrySetNewPath(ref Pawn_PathFollower instance, ref IntVec3 lastPathedTargetPosition, LocalTargetInfo destination, Pawn pawn, Map map, ref PathEndMode peMode)
{
PawnPath pawnPath = GenerateNewPath(ref lastPathedTargetPosition, destination, ref pawn, map, peMode);
if (!pawnPath.Found)
{
PatherFailedHelper(ref instance, pawn);
return(false);
}
if (!(instance.curPath is null))
{
instance.curPath.ReleaseToPool();
}
instance.curPath = pawnPath;
int num = 0;
int foundPathWhichCollidesWithPawns = Traverse.Create(instance).Field("foundPathWhichCollidesWithPawns").GetValue <int>();
int foundPathWithDanger = Traverse.Create(instance).Field("foundPathWithDanger").GetValue <int>();
while (num < 20 && num < instance.curPath.NodesLeftCount)
{
IntVec3 c = instance.curPath.Peek(num);
if (pawn.GetComp <CompShips>().beached)
{
break;
}
if (PawnUtility.ShouldCollideWithPawns(pawn) && PawnUtility.AnyPawnBlockingPathAt(c, pawn, false, false, false))
{
foundPathWhichCollidesWithPawns = Find.TickManager.TicksGame;
}
if (PawnUtility.KnownDangerAt(c, pawn.Map, pawn))
{
foundPathWithDanger = Find.TickManager.TicksGame;
}
if (foundPathWhichCollidesWithPawns == Find.TickManager.TicksGame && foundPathWithDanger == Find.TickManager.TicksGame)
{
break;
}
num++;
}
return(true);
}
//public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, Pawn pawn, PathEndMode peMode = PathEndMode.OnCell)
//{
// bool flag = false;
// if (pawn != null && pawn.CurJob != null && pawn.CurJob.canBash)
// {
// flag = true;
// }
// Danger maxDanger = Danger.Deadly;
// bool canBash = flag;
// return this.FindPath(start, dest, TraverseParms.For(pawn, maxDanger, TraverseMode.ByPawn, canBash), peMode);
//}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
//Walk through Walls Mode
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
//Check if there's a pawn to path for
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath for pawn which is spawned in another map. His map CVPathFinder should have been used, not this one. pawn=",
pawn,
" pawn.Map=",
pawn.Map,
" map=",
this.map
}));
return(PawnPath.NotFound);
}
//Make sure the start is valid
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start ",
start,
", pawn= ",
pawn
}));
return(PawnPath.NotFound);
}
//Make sure the end is valid
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}));
return(PawnPath.NotFound);
}
//Check if it's possible to get to the destination
Log.Error(traverseParms.mode.ToString());
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
Log.Error("a");
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ",
pawn,
" from ",
start,
" to ",
dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag8 = !flag || !flag3;
bool flag9 = false;
int num5 = 0;
int num6 = 0;
float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
Log.Error("b");
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
Log.Error("c");
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num5 += this.openList.Count;
num6++;
CVPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
Log.Error("d");
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
Log.Error("e");
this.PfProfilerEndSample();
}
else
{
Log.Error("f");
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_27;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_29;
}
if (num3 > 160000)
{
goto Block_30;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + CVPathFinder.Directions[i]);
uint num11 = (uint)(z2 + CVPathFinder.Directions[i + 8]);
if ((ulong)num10 < (ulong)((long)this.mapSizeX) && (ulong)num11 < (ulong)((long)this.mapSizeZ))
{
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = this.cellIndices.CellToIndex(num12, num13);
if (this.calcGrid[num14].status != this.statusClosedValue || flag9)
{
int num15 = 0;
bool flag10 = false;
if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water") || (pawn.GetComp <CompVehicle>() != null && pawn.GetComp <CompVehicle>().Props.vehicleType == VehicleType.Amphibious))
{
if (!this.pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
goto IL_C2E;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null)
{
goto IL_C2E;
}
if (!CVPathFinder.IsDestroyable(building))
{
goto IL_C2E;
}
num15 += (int)((float)building.HitPoints * 0.11f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_C2E;
}
num15 += 70;
}
break;
}
}
Log.Error("g");
int num16 = (i <= 3) ? num8 : num9;
num16 += num15;
if (!flag10)
{
num16 += array[num14];
}
if (byteGrid != null)
{
num16 += (int)(byteGrid[num14] * 8);
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false))
{
num16 += 175;
}
Log.Error("h");
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = CVPathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
goto IL_C2E;
}
num16 += buildingCost;
this.PfProfilerEndSample();
}
int num17 = num16 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num14].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num18 = 0;
if (status == this.statusClosedValue)
{
num18 = num8;
}
if (this.calcGrid[num14].knownCost <= num17 + num18)
{
goto IL_C2E;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * CVPathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num19 = GenMath.OctileDistance(dx, dz, num8, num9);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num19 * num7);
}
}
int num20 = num17 + this.calcGrid[num14].heuristicCost;
this.calcGrid[num14].parentIndex = num;
this.calcGrid[num14].knownCost = num17;
this.calcGrid[num14].status = this.statusOpenValue;
this.calcGrid[num14].costNodeCost = num20;
num4++;
this.openList.Push(new CVPathFinder.CostNode(num14, num20));
}
}
}
IL_C2E :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" ran out of cells to process.\nJob:",
text,
"\nFaction: ",
text2
}));
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_27:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result);
Block_29:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result2);
Block_30:
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" hit search limit of ",
160000,
" cells."
}));
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
//public static FastPriorityQueue<CostNode2> openList = new FastPriorityQueue<CostNode2>(new CostNodeComparer2());
//public static PathFinderNodeFast[] calcGrid = new PathFinderNodeFast[40000];
//public static ushort statusOpenValue = 1;
//public static ushort statusClosedValue = 2;
public static bool FindPath(PathFinder __instance, ref PawnPath __result, IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
FastPriorityQueue <CostNode2> openList = getOpenList();
ushort statusOpenValue = getOpenValue();
ushort statusClosedValue = getClosedValue();
PathFinderNodeFast[] calcGrid = getCalcGrid(__instance);
RegionCostCalculatorWrapper regionCostCalculator = getRegionCostCalculatorWrapper(__instance);
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != mapField(__instance))
{
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=", mapField(__instance)));
__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 (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
__result = PawnPath.NotFound;
return(false);
}
}
else if (!mapField(__instance).reachability.CanReach(start, dest, peMode, traverseParms))
{
__result = PawnPath.NotFound;
return(false);
}
PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndicesField(__instance) = mapField(__instance).cellIndices;
pathGridField(__instance) = mapField(__instance).pathGrid;
edificeGridField(__instance) = mapField(__instance).edificeGrid.InnerArray;
blueprintGridField(__instance) = mapField(__instance).blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndicesField(__instance).CellToIndex(start);
int num = cellIndicesField(__instance).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 = CalculateDestinationRect(dest, peMode);
bool flag4 = destinationRect.Width == 1 && destinationRect.Height == 1;
int[] array = mapField(__instance).pathGrid.pathGrid;
TerrainDef[] topGrid = mapField(__instance).terrainGrid.topGrid;
EdificeGrid edificeGrid = mapField(__instance).edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = !flag && start.GetRegion(mapField(__instance)) != 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;
}
CalculateAndAddDisallowedCorners2(disallowedCornerIndicesField(__instance), mapField(__instance), peMode, destinationRect);
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
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();
__result = PawnPath.NotFound;
return(false);
}
num5 += openList.Count;
num6++;
CostNode2 costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndicesField(__instance).IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result;
return(false);
}
}
else if (destinationRect.Contains(c) && !disallowedCornerIndicesField(__instance).Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result2;
return(false);
}
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 >= mapSizeXField(__instance) || num11 >= mapSizeZField(__instance))
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndicesField(__instance).CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
int num15 = 0;
bool flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(mapField(__instance)).HasTag("Water"))
{
continue;
}
if (!pathGridField(__instance).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 (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
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 = edificeGridField(__instance)[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGridField(__instance)[num14];
if (list != null)
{
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)
{
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 CostNode2(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(destinationRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndicesField(__instance));
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
num3 = 0;
num2 = 0;
}
}
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
private bool NeedNewPath()
{
if (!this.destination.IsValid || this.curPath == null || !this.curPath.Found || this.curPath.NodesLeftCount == 0)
{
return(true);
}
if (this.destination.HasThing && this.destination.Thing.Map != this.pawn.Map)
{
return(true);
}
if ((this.pawn.Position.InHorDistOf(this.curPath.LastNode, 15f) || this.pawn.Position.InHorDistOf(this.destination.Cell, 15f)) && !ReachabilityImmediate.CanReachImmediate(this.curPath.LastNode, this.destination, this.pawn.Map, this.peMode, this.pawn))
{
return(true);
}
if (this.curPath.UsedRegionHeuristics && this.curPath.NodesConsumedCount >= 75)
{
return(true);
}
if (this.lastPathedTargetPosition != this.destination.Cell)
{
float num = (float)(this.pawn.Position - this.destination.Cell).LengthHorizontalSquared;
float num2;
if (num > 900f)
{
num2 = 10f;
}
else if (num > 289f)
{
num2 = 5f;
}
else if (num > 100f)
{
num2 = 3f;
}
else if (num > 49f)
{
num2 = 2f;
}
else
{
num2 = 0.5f;
}
if ((float)(this.lastPathedTargetPosition - this.destination.Cell).LengthHorizontalSquared > num2 * num2)
{
return(true);
}
}
bool flag = PawnUtility.ShouldCollideWithPawns(this.pawn);
bool flag2 = this.curPath.NodesLeftCount < 30;
IntVec3 other = IntVec3.Invalid;
int num3 = 0;
while (num3 < 20 && num3 < this.curPath.NodesLeftCount)
{
IntVec3 intVec = this.curPath.Peek(num3);
if (!intVec.Walkable(this.pawn.Map))
{
return(true);
}
if (flag && !this.BestPathHadPawnsInTheWayRecently() && (PawnUtility.AnyPawnBlockingPathAt(intVec, this.pawn, false, true, false) || (flag2 && PawnUtility.AnyPawnBlockingPathAt(intVec, this.pawn, false, false, false))))
{
return(true);
}
if (!this.BestPathHadDangerRecently() && PawnUtility.KnownDangerAt(intVec, this.pawn.Map, this.pawn))
{
return(true);
}
Building_Door building_Door = intVec.GetEdifice(this.pawn.Map) as Building_Door;
if (building_Door != null)
{
if (!building_Door.CanPhysicallyPass(this.pawn) && !this.pawn.HostileTo(building_Door))
{
return(true);
}
if (building_Door.IsForbiddenToPass(this.pawn))
{
return(true);
}
}
if (num3 != 0 && intVec.AdjacentToDiagonal(other) && (PathFinder.BlocksDiagonalMovement(intVec.x, other.z, this.pawn.Map) || PathFinder.BlocksDiagonalMovement(other.x, intVec.z, this.pawn.Map)))
{
return(true);
}
other = intVec;
num3++;
}
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);
}
private static IAttackTarget FindBestReachableMeleeTarget(
Predicate <IAttackTarget> validator,
Pawn searcherPawn,
float maxTargDist,
bool canBash)
{
maxTargDist = Mathf.Min(maxTargDist, 30f);
IAttackTarget reachableTarget = (IAttackTarget)null;
Func <IntVec3, IAttackTarget> bestTargetOnCell = (Func <IntVec3, IAttackTarget>)(x =>
{
List <Thing> thingList = x.GetThingList(searcherPawn.Map);
for (int index = 0; index < thingList.Count; ++index)
{
Thing thing = thingList[index];
if (thing is IAttackTarget target && validator(target) && ReachabilityImmediate.CanReachImmediate(x, (LocalTargetInfo)thing, searcherPawn.Map, PathEndMode.Touch, searcherPawn) && (searcherPawn.CanReachImmediate((LocalTargetInfo)thing, PathEndMode.Touch) || searcherPawn.Map.attackTargetReservationManager.CanReserve(searcherPawn, target)))
{
return(target);
}
}
return((IAttackTarget)null);
});
searcherPawn.Map.floodFiller.FloodFill(searcherPawn.Position, (Predicate <IntVec3>)(x => x.Walkable(searcherPawn.Map) && (double)x.DistanceToSquared(searcherPawn.Position) <= (double)maxTargDist * (double)maxTargDist && (canBash || !(x.GetEdifice(searcherPawn.Map) is Building_Door edifice) || edifice.CanPhysicallyPass(searcherPawn)) && !PawnUtility.AnyPawnBlockingPathAt(x, searcherPawn, true, false, false)), (Func <IntVec3, bool>)(x =>
{
for (int index = 0; index < 8; ++index)
{
IntVec3 c = x + GenAdj.AdjacentCells[index];
if (c.InBounds(searcherPawn.Map))
{
IAttackTarget attackTarget = bestTargetOnCell(c);
if (attackTarget != null)
{
reachableTarget = attackTarget;
break;
}
}
}
return(reachableTarget != null);
}), int.MaxValue, false, (IEnumerable <IntVec3>)null);
return(reachableTarget);
}
public static bool TryFindBestPawnStandCell(ref bool __result, Pawn forPawn, out IntVec3 cell, bool cellByCell = false)
{
cell = IntVec3.Invalid;
int num1 = -1;
float radius = 10f;
Dictionary <IntVec3, float> tmpDistances = new Dictionary <IntVec3, float>();
Dictionary <IntVec3, IntVec3> tmpParents = new Dictionary <IntVec3, IntVec3>();
DijkstraIntVec3 dijkstraIntVec3 = new DijkstraIntVec3();
while (true)
{
tmpDistances.Clear();
tmpParents.Clear();
dijkstraIntVec3.Run(forPawn.Position, (Func <IntVec3, IEnumerable <IntVec3> >)(x => GetAdjacentCardinalCellsForBestStandCell(x, radius, forPawn)), (Func <IntVec3, IntVec3, float>)((from, to) =>
{
float num2 = 1f;
if (from.x != to.x && from.z != to.z)
{
num2 = 1.414214f;
}
if (!to.Standable(forPawn.Map))
{
num2 += 3f;
}
if (PawnUtility.AnyPawnBlockingPathAt(to, forPawn, false, false, false))
{
if (to.GetThingList(forPawn.Map).Find((Predicate <Thing>)(x => x is Pawn && x.HostileTo((Thing)forPawn))) != null)
{
num2 += 40f;
}
else
{
num2 += 15f;
}
}
if (to.GetEdifice(forPawn.Map) is Building_Door edifice && !edifice.FreePassage)
{
if (edifice.PawnCanOpen(forPawn))
{
num2 += 6f;
}
else
{
num2 += 50f;
}
}
return(num2);
}), tmpDistances, tmpParents);
if (tmpDistances.Count != num1)
{
float num2 = 0.0f;
foreach (KeyValuePair <IntVec3, float> tmpDistance in tmpDistances)
{
if ((!cell.IsValid || (double)tmpDistance.Value < (double)num2) && (tmpDistance.Key.Walkable(forPawn.Map) && !PawnUtility.AnyPawnBlockingPathAt(tmpDistance.Key, forPawn, false, false, false)))
{
Building_Door door = tmpDistance.Key.GetDoor(forPawn.Map);
if (door == null || door.FreePassage)
{
cell = tmpDistance.Key;
num2 = tmpDistance.Value;
}
}
}
if (!cell.IsValid)
{
if ((double)radius <= (double)forPawn.Map.Size.x || (double)radius <= (double)forPawn.Map.Size.z)
{
radius *= 2f;
num1 = tmpDistances.Count;
}
else
{
goto label_23;
}
}
else
{
goto label_11;
}
}
else
{
break;
}
}
__result = false;
return(false);
label_11:
if (!cellByCell)
{
__result = true;
return(false);
}
IntVec3 c = cell;
int num3 = 0;
while (c != null && c.IsValid && c != forPawn.Position)
{
++num3;
if (num3 >= 10000)
{
Log.Error("Too many iterations.", false);
break;
}
if (c.Walkable(forPawn.Map))
{
Building_Door door = c.GetDoor(forPawn.Map);
if (door == null || door.FreePassage)
{
cell = c;
}
}
if (!tmpParents.TryGetValue(c, out c))
{
break;
}
}
__result = true;
return(false);
label_23:
__result = 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 != this.map)
{
Log.Error(string.Concat(new object[]
{
"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=",
this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start ",
start,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ",
pawn,
" from ",
start,
" to ",
dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
this.blueprintGrid = this.map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : 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 = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn != null && pawn.Drafted;
bool flag11 = pawn != null && pawn.IsColonist;
int num5 = (!flag11) ? 2000 : 100000;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9;
int num10;
if (pawn != null)
{
num9 = pawn.TicksPerMoveCardinal;
num10 = pawn.TicksPerMoveDiagonal;
}
else
{
num9 = 13;
num10 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
PathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > 160000)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + PathFinder.Directions[i]);
uint num12 = (uint)(z2 + PathFinder.Directions[i + 8]);
if ((ulong)num11 < (ulong)((long)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false;
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.pathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_D53;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building == null)
{
goto IL_D53;
}
if (!PathFinder.IsDestroyable(building))
{
goto IL_D53;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
if (!flag12)
{
num17 += array[num15];
if (flag10)
{
num17 += topGrid[num15].extraDraftedPerceivedPathCost;
}
else
{
num17 += topGrid[num15].extraNonDraftedPerceivedPathCost;
}
}
if (byteGrid != null)
{
num17 += (int)(byteGrid[num15] * 8);
}
if (allowedArea != null && !allowedArea[num15])
{
num17 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += 175;
}
Building building2 = this.edificeGrid[num15];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += buildingCost;
this.PfProfilerEndSample();
}
List <Blueprint> list = this.blueprintGrid[num15];
if (list != null)
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
for (int j = 0; j < list.Count; j++)
{
num18 = Mathf.Max(num18, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num18 == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_D53;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new PathFinder.CostNode(num15, num22));
}
}
}
IL_D53 :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" ran out of cells to process.\nJob:",
text,
"\nFaction: ",
text2
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" hit search limit of ",
160000,
" cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
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 != this.map)
{
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=" + this.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 (!this.map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + ((!dest.HasThing) ? string.Empty : (" at " + dest.Cell)));
this.cellIndices = this.map.cellIndices;
this.pathGrid = this.map.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag8 = !flag || !flag3;
bool flag9 = false;
int num5 = 0;
int num6 = 0;
float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += this.openList.Count;
num6++;
CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
continue;
}
if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
continue;
}
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)((float)this.calcGrid[num].knownCost / 1500.0), this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result2);
}
if (num3 <= 160000)
{
this.PfProfilerEndSample();
this.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]);
int num12;
int num13;
int num14;
bool flag10;
int num15;
if (num10 < this.mapSizeX && num11 < this.mapSizeZ)
{
num12 = (int)num10;
num13 = (int)num11;
num14 = this.cellIndices.CellToIndex(num12, num13);
if (this.calcGrid[num14].status == this.statusClosedValue && !flag9)
{
continue;
}
num15 = 0;
flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water"))
{
continue;
}
if (!this.pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
}
else
{
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building != null && PathFinder.IsDestroyable(building))
{
num15 += (int)((float)building.HitPoints * 0.10999999940395355);
goto IL_0749;
}
}
continue;
}
goto IL_0749;
}
continue;
IL_092b:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0b0e:
ushort status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num16 = GenMath.OctileDistance(dx, dz, num8, num9);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num16 * num7);
}
}
int num17;
int num18 = num17 + this.calcGrid[num14].heuristicCost;
this.calcGrid[num14].parentIndex = num;
this.calcGrid[num14].knownCost = num17;
this.calcGrid[num14].status = this.statusOpenValue;
this.calcGrid[num14].costNodeCost = num18;
num4++;
this.openList.Push(new CostNode(num14, num18));
continue;
IL_0803:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_09bf:
int num19 = (i <= 3) ? num8 : num9;
num19 += num15;
if (!flag10)
{
num19 += array[num14];
}
if (byteGrid != null)
{
num19 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num19 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false))
{
num19 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
continue;
}
num19 += buildingCost;
this.PfProfilerEndSample();
}
num17 = num19 + this.calcGrid[num].knownCost;
status = this.calcGrid[num14].status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
goto IL_0b0e;
}
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num8;
}
if (this.calcGrid[num14].knownCost > num17 + num20)
{
goto IL_0b0e;
}
continue;
IL_0897:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0749:
switch (i)
{
case 4:
break;
case 5:
goto IL_0803;
case 6:
goto IL_0897;
case 7:
goto IL_092b;
default:
goto IL_09bf;
}
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
continue;
}
break;
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
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("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) ? string.Empty : (" at " + dest.Cell)));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.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 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(map) != null && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn?.Drafted ?? false;
int num4 = (!(pawn?.IsColonist ?? false)) ? 2000 : 100000;
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) ? "null" : pawn.CurJob.ToString();
string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
Log.Warning(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
}
else if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
}
else
{
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, (float)calcGrid[curIndex].knownCost / 1500f, calcGrid[curIndex].knownCost.ToString());
}
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag9);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag9);
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)
{
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status != statusClosedValue || flag9)
{
int num15 = 0;
bool flag11 = false;
if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
{
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
continue;
}
flag11 = 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 (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
default:
{
int num16 = (i <= 3) ? num8 : num9;
num16 += num15;
if (!flag11)
{
num16 += array[num14];
num16 = ((!flag10) ? (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 == 2147483647)
{
PfProfilerEndSample();
break;
}
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 == 2147483647)
{
PfProfilerEndSample();
break;
}
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)
{
break;
}
}
if (flag9)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate((float)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));
break;
}
}
}
}
}
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag7 && !flag9)
{
flag9 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag10, 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();
return(PawnPath.NotFound);
}
public static bool TryFindBestPawnStandCell(Pawn forPawn, out IntVec3 cell, bool cellByCell = false)
{
cell = IntVec3.Invalid;
int num = -1;
float radius = 10f;
while (true)
{
tmpDistances.Clear();
tmpParents.Clear();
Dijkstra <IntVec3> .Run(forPawn.Position, (IntVec3 x) => GetAdjacentCardinalCellsForBestStandCell(x, radius, forPawn), delegate(IntVec3 from, IntVec3 to)
{
float num4 = 1f;
if (from.x != to.x && from.z != to.z)
{
num4 = 1.41421354f;
}
if (!to.Standable(forPawn.Map))
{
num4 += 3f;
}
if (PawnUtility.AnyPawnBlockingPathAt(to, forPawn))
{
num4 = ((to.GetThingList(forPawn.Map).Find((Thing x) => x is Pawn && x.HostileTo(forPawn)) == null) ? (num4 + 15f) : (num4 + 40f));
}
Building_Door building_Door = to.GetEdifice(forPawn.Map) as Building_Door;
if (building_Door != null && !building_Door.FreePassage)
{
num4 = ((!building_Door.PawnCanOpen(forPawn)) ? (num4 + 50f) : (num4 + 6f));
}
return(num4);
}, tmpDistances, tmpParents);
if (tmpDistances.Count == num)
{
return(false);
}
float num2 = 0f;
foreach (KeyValuePair <IntVec3, float> tmpDistance in tmpDistances)
{
if ((!cell.IsValid || !(tmpDistance.Value >= num2)) && tmpDistance.Key.Walkable(forPawn.Map) && !PawnUtility.AnyPawnBlockingPathAt(tmpDistance.Key, forPawn))
{
Building_Door door = tmpDistance.Key.GetDoor(forPawn.Map);
if (door == null || door.FreePassage)
{
cell = tmpDistance.Key;
num2 = tmpDistance.Value;
}
}
}
if (cell.IsValid)
{
if (!cellByCell)
{
return(true);
}
IntVec3 intVec = cell;
int num3 = 0;
while (intVec.IsValid && intVec != forPawn.Position)
{
num3++;
if (num3 >= 10000)
{
Log.Error("Too many iterations.");
break;
}
if (intVec.Walkable(forPawn.Map))
{
Building_Door door2 = intVec.GetDoor(forPawn.Map);
if (door2 == null || door2.FreePassage)
{
cell = intVec;
}
}
intVec = tmpParents[intVec];
}
return(true);
}
if (radius > (float)forPawn.Map.Size.x && radius > (float)forPawn.Map.Size.z)
{
break;
}
radius *= 2f;
num = tmpDistances.Count;
}
return(false);
}
public PawnPath FindShipPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (!(pawn is null) && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath for pawn which is spawned in another map. his map ShipPathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!mapE.getShipReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
this.PfProfilerBeginSample(string.Concat(new object[]
{
"FindPath for ", pawn,
" from ", start,
" to ", dest,
(!dest.HasThing) ? string.Empty : (" at " + dest.Cell)
}));
this.cellIndices = this.map.cellIndices;
this.shipPathGrid = mapE.getShipPathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
this.blueprintGrid = this.map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = this.cellIndices.CellToIndex(start);
int num2 = this.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 = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = mapE.getShipPathGrid.pathGrid;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(WaterGridsUtility.GetRegion(start, this.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.GetComp <CompShips>() is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
ShipPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > SearchLimit)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + ShipPathFinder.Directions[i]);
uint num12 = (uint)(z2 + ShipPathFinder.Directions[i + 8]);
if ((ulong)num11 < ((ulong)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
//bool flag12 = false; Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.shipPathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_E3A;
}
//flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto IL_E3A;
}
if (!IsDestroyable(building))
{
goto IL_E3A;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
/*if(!flag12)
* {
* //Extra Costs for traversing water
* num17 += array[num15];
* num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
* }*/
if (!(byteGrid is null))
{
num17 += (int)(byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += Cost_PawnCollision;
}
Building building2 = this.edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
List <Blueprint> list = this.blueprintGrid[num15];
if (!(list is null))
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
this.PfProfilerEndSample();
goto IL_E3A;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (!(pawn.GetComp <CompShips>() is null) && !this.map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_E3A;
}
}
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) *
ShipPathFinder.RegionheuristicWeighByNodesOpened.Evaluate((float)num4));
if (this.calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009, false);
this.calcGrid[num15].heuristicCost = 0;
}
}
else if (status != this.statusClosedValue && status != this.statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
//Log.Message("Num19: " + num19 + " || num22: " + num22);
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, false);
num22 = 0;
}
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new ShipPathFinder.CostNode(num15, num22));
}
}
}
IL_E3A :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10,
this.disallowedCornerIndices);
this.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();
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
private static IAttackTarget FindBestReachableMeleeTarget(Predicate <IAttackTarget> validator, Pawn searcherPawn, float maxTargDist, bool canBash)
{
maxTargDist = Mathf.Min(maxTargDist, 30f);
IAttackTarget reachableTarget = null;
IAttackTarget bestTargetOnCell(IntVec3 x)
{
List <Thing> thingList = x.GetThingList(searcherPawn.Map);
for (int i = 0; i < thingList.Count; i++)
{
Thing thing = thingList[i];
if (thing is IAttackTarget attackTarget)
{
if (validator(attackTarget))
{
if (ReachabilityImmediate.CanReachImmediate(x, thing, searcherPawn.Map, PathEndMode.Touch, searcherPawn))
{
if (searcherPawn.CanReachImmediate(thing, PathEndMode.Touch) || searcherPawn.Map.attackTargetReservationManager.CanReserve(searcherPawn, attackTarget))
{
return(attackTarget);
}
}
}
}
}
return(null);
}
searcherPawn.Map.floodFiller.FloodFill(searcherPawn.Position, delegate(IntVec3 x)
{
if (!x.Walkable(searcherPawn.Map))
{
return(false);
}
if ((float)x.DistanceToSquared(searcherPawn.Position) > maxTargDist * maxTargDist)
{
return(false);
}
if (!canBash)
{
if (x.GetEdifice(searcherPawn.Map) is Building_Door building_Door && !building_Door.CanPhysicallyPass(searcherPawn))
{
return(false);
}
}
return(!PawnUtility.AnyPawnBlockingPathAt(x, searcherPawn, true, false, false));
}, delegate(IntVec3 x)
{
for (int i = 0; i < 8; i++)
{
IntVec3 intVec = x + GenAdj.AdjacentCells[i];
if (intVec.InBounds(searcherPawn.Map))
{
IAttackTarget attackTarget = bestTargetOnCell(intVec);
if (attackTarget != null)
{
reachableTarget = attackTarget;
break;
}
}
}
return(reachableTarget != null);
}, int.MaxValue, false, null);
return(reachableTarget);
}
private void expandNode(Step currentNode)
{
bool previousNodeHasDoor, previousNodeIsPathCostIgnoreRepeater;
Building previousBuilding = edificeGrid[currentNode.currentIndx];
if (previousBuilding is Building_Door)
{
previousNodeHasDoor = true;
}
else
{
previousNodeHasDoor = false;
}
previousNodeIsPathCostIgnoreRepeater = false;
foreach (ThingDef def in map.thingGrid.ThingsListAtFast(currentNode.currentIndx).Select(t => t.def))
{
if (def.pathCostIgnoreRepeat)
{
previousNodeIsPathCostIgnoreRepeater = true;
break;
}
}
//add all neighboring tiles but diagonal only if it is allowed, fixed size where we null out the after last entry if it is not full
int currentIndice = currentNode.currentIndx;
int currentX = currentNode.current.x;
int currentZ = currentNode.current.z;
int[] Directions = DirectionsShared;
IntVec3 invalidIntVec3 = invalidIntVec3Shared;
byte byteDirections;
if (pathfinderDirections != null)
{
byteDirections = pathfinderDirections.GetDirections(currentNode.current);
}
else
{
byteDirections = 0xFF;
}
for (int i = 0; i < 8; i++)
{
if (byteDirections != 0xFF)
{
//{ 0, 1, 0, -1, 1, 1, -1, -1,
// -1, 0, 1, 0, -1, 1, 1, -1 }
switch (i)
{
case 2: if ((byteDirections & 1) != 1)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 5: if ((byteDirections & 2) != 2)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 1: if ((byteDirections & 4) != 4)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 4: if ((byteDirections & 8) != 8)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 0: if ((byteDirections & 16) != 16)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 8: if ((byteDirections & 32) != 32)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 3: if ((byteDirections & 64) != 64)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
case 7: if ((byteDirections & 128) != 128)
{
neighbors[i] = invalidIntVec3; continue;
}
break;
default: neighbors[i] = invalidIntVec3; continue;
}
}
int neighborX = currentX + Directions[i];
int neighborZ = currentZ + Directions[i + 8];
//check if we are within map bounds
if (neighborX >= mapSizeX || neighborZ >= mapSizeZ || neighborX < 0 || neighborZ < 0)
{
neighbors[i] = invalidIntVec3; continue;
}
//check if we have to skip diagonal movement due to adjacent tiles.
if (i > 3)
{
if (Directions[i] == 1)
{
if (BlocksDiagonalMovement(currentIndice + 1))
{
neighbors[i] = invalidIntVec3; continue;
}
}
else
{
if (BlocksDiagonalMovement(currentIndice - 1))
{
neighbors[i] = invalidIntVec3; continue;
}
}
if (Directions[i + 8] == 1)
{
if (BlocksDiagonalMovement(currentIndice + mapSizeX))
{
neighbors[i] = invalidIntVec3; continue;
}
}
else
{
if (BlocksDiagonalMovement(currentIndice - mapSizeX))
{
neighbors[i] = invalidIntVec3; continue;
}
}
}
//check if we can cross water tiles
IntVec3 ngb = new IntVec3(neighborX, 0, neighborZ);
if (dontPassWater && ngb.GetTerrain(map).HasTag("Water"))
{
neighbors[i] = invalidIntVec3; continue;
}
neighbors[i] = ngb;
}
for (int i = 0; i < neighbors.Count(); i++)
{
IntVec3 neighbor = neighbors[i];
if (neighbor == invalidIntVec3)
{
continue;
}
int neighborIndice = cellIndices.CellToIndex(neighbor);
Step successor = stepCache.getCachedOrNewStep(neighbor, neighborIndice);
// wenn der Nachfolgeknoten bereits geschlossen wurde - tue nichts
if (successor.closed)
{
continue;
}
//can the tile be walked across?
bool useTerrainCost = true;
int costToDestroyInsteadOfTerrainCost = 0;
if (!pathGrid.WalkableFast(neighborIndice))
{
if (traverseParms.mode != TraverseMode.PassAllDestroyableThings)
{
continue;
}
useTerrainCost = false;
costToDestroyInsteadOfTerrainCost += 70;
Building building = edificeGrid[neighborIndice];
if (building == null)
{
continue;
}
if (!PathFinder.IsDestroyable(building))
{
continue;
}
costToDestroyInsteadOfTerrainCost += (int)((float)building.HitPoints * 0.11f);
}
bool isUpdate = successor.costToReachThis > 0;
int stepCosts = (i <= 3) ? costPerMoveCardinal : costPerMoveDiagonal;
Building building2 = edificeGrid[neighborIndice];
if (building2 != null)
{
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == Int32.MaxValue)
{
continue;
}
stepCosts += buildingCost;
}
List <Blueprint> blueprints = this.blueprintGrid[neighborIndice];
if (blueprints != null)
{
int maxBluprintCost = 0;
blueprints.ForEach(bp => maxBluprintCost = Math.Max(maxBluprintCost, PathFinder.GetBlueprintCost(bp, pawn)));
if (maxBluprintCost == Int32.MaxValue)
{
continue;
}
stepCosts += maxBluprintCost;
}
if (useTerrainCost)
{
stepCosts += pathGridArray[neighborIndice] - minTerrainCost;
//PathGrid uses cached static cost and does not account for directional costs
//1. moving from a thing with pathCostIgnoreRepeat and a cost of at least 25 to a thing with pathCostIgnoreRepeat reduces the cost by the pathCost of the first thing
//2. moving from door to door increases the cost by 45
if (previousNodeHasDoor && building2 != null && building2 is Building_Door)
{
stepCosts += 45;
}
if (previousNodeIsPathCostIgnoreRepeater)
{
foreach (ThingDef def in map.thingGrid.ThingsListAtFast(neighborIndice).Select(t => t.def))
{
if (def.pathCostIgnoreRepeat && def.pathCost >= 25)
{
stepCosts -= def.pathCost;
}
}
}
//new in 1.0
if (drafted)
{
stepCosts += topGrid[neighborIndice].extraDraftedPerceivedPathCost;
}
else
{
stepCosts += topGrid[neighborIndice].extraNonDraftedPerceivedPathCost;
}
}
else
{
stepCosts += costToDestroyInsteadOfTerrainCost;
}
if (avoidGrid != null)
{
stepCosts += (int)(avoidGrid[neighborIndice] * 8);
}
//Variation to default behaviour:
//When pathfinding from outside the allowed area back into the allowed area we ignore the malus for forbidden area to avoid ruining the performance for no good reason.
//We check the current position and if it is forbidden we do not apply a malus if it is allowed the current neighbor is tested.
if (allowedArea != null && allowedArea[currentIndice] && !allowedArea[neighborIndice])
{
stepCosts += 600;
}
if (collidesWithPawns && PawnUtility.AnyPawnBlockingPathAt(neighbor, pawn, false, false, true))
{
stepCosts += 175;
}
// g Wert für den neuen Weg berechnen: g Wert des Vorgängers plus
// die Kosten der gerade benutzten Kante
int costToReachThisNeighbor = currentNode.costToReachThis + stepCosts;
// wenn der Nachfolgeknoten bereits auf der Open List ist,
// aber der neue Weg nicht besser ist als der alte - tue nichts
if (isUpdate && successor.costToReachThis <= costToReachThisNeighbor)
{
continue;
}
successor.costToReachThis = costToReachThisNeighbor;
// Vorgängerzeiger setzen und g Wert merken
successor.predecessor = currentNode;
// f Wert des Knotens in der Open List aktualisieren
// bzw. Knoten mit f Wert in die Open List einfügen
if (isUpdate)
{
openlist.UpdatePriority(successor, successor.costToReachThis + successor.estimatedCostsToDestination);
//if ( drawPath ) map.debugDrawer.FlashCell(successor.current, 0.1f, "updated", 100);
}
else
{
openlist.Enqueue(successor, successor.costToReachThis + successor.estimatedCostsToDestination);
if (drawPath)
{
map.debugDrawer.FlashCell(successor.current, 0.22f, "opened", 100);
}
}
}
}
