public WorldPath FindPath(int startTile, int destTile, Caravan caravan, Func <float, bool> terminator = null)
{
if (startTile < 0)
{
Log.Error("Tried to FindPath with invalid start tile " + startTile + ", caravan= " + caravan);
return(WorldPath.NotFound);
}
if (destTile < 0)
{
Log.Error("Tried to FindPath with invalid dest tile " + destTile + ", caravan= " + caravan);
return(WorldPath.NotFound);
}
if (caravan != null)
{
if (!caravan.CanReach(destTile))
{
return(WorldPath.NotFound);
}
}
else if (!Find.WorldReachability.CanReach(startTile, destTile))
{
return(WorldPath.NotFound);
}
World world = Find.World;
WorldGrid grid = world.grid;
List <int> tileIDToNeighbors_offsets = grid.tileIDToNeighbors_offsets;
List <int> tileIDToNeighbors_values = grid.tileIDToNeighbors_values;
Vector3 normalized = grid.GetTileCenter(destTile).normalized;
int[] pathGrid = world.pathGrid.pathGrid;
int num = 0;
int num2 = (caravan == null) ? 2500 : caravan.TicksPerMove;
int num3 = this.CalculateHeuristicStrength(startTile, destTile);
this.statusOpenValue += 2;
this.statusClosedValue += 2;
if (this.statusClosedValue >= 65435)
{
this.ResetStatuses();
}
this.calcGrid[startTile].knownCost = 0;
this.calcGrid[startTile].heuristicCost = 0;
this.calcGrid[startTile].costNodeCost = 0;
this.calcGrid[startTile].parentTile = startTile;
this.calcGrid[startTile].status = this.statusOpenValue;
this.openList.Clear();
this.openList.Push(new CostNode(startTile, 0));
while (true)
{
if (this.openList.Count <= 0)
{
Log.Warning(caravan + " pathing from " + startTile + " to " + destTile + " ran out of tiles to process.");
return(WorldPath.NotFound);
}
CostNode costNode = this.openList.Pop();
if (costNode.cost == this.calcGrid[costNode.tile].costNodeCost)
{
int tile = costNode.tile;
if (this.calcGrid[tile].status != this.statusClosedValue)
{
if (DebugViewSettings.drawPaths)
{
Find.WorldDebugDrawer.FlashTile(tile, (float)((float)this.calcGrid[tile].knownCost / 375000.0), this.calcGrid[tile].knownCost.ToString(), 50);
}
if (tile == destTile)
{
return(this.FinalizedPath(tile));
}
if (num > 500000)
{
Log.Warning(caravan + " pathing from " + startTile + " to " + destTile + " hit search limit of " + 500000 + " tiles.");
return(WorldPath.NotFound);
}
int num4 = (tile + 1 >= tileIDToNeighbors_offsets.Count) ? tileIDToNeighbors_values.Count : tileIDToNeighbors_offsets[tile + 1];
for (int i = tileIDToNeighbors_offsets[tile]; i < num4; i++)
{
int num5 = tileIDToNeighbors_values[i];
int num7;
ushort status;
if (this.calcGrid[num5].status != this.statusClosedValue && !world.Impassable(num5))
{
int num6 = num2;
num6 += pathGrid[num5];
num6 = (int)((float)num6 * grid.GetRoadMovementMultiplierFast(tile, num5));
num7 = num6 + this.calcGrid[tile].knownCost;
status = this.calcGrid[num5].status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
goto IL_041e;
}
if (this.calcGrid[num5].knownCost > num7)
{
goto IL_041e;
}
}
continue;
IL_041e:
Vector3 tileCenter = grid.GetTileCenter(num5);
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
float num8 = grid.ApproxDistanceInTiles(GenMath.SphericalDistance(tileCenter.normalized, normalized));
this.calcGrid[num5].heuristicCost = Mathf.RoundToInt((float)((float)num2 * num8 * (float)num3 * 0.5));
}
int num9 = num7 + this.calcGrid[num5].heuristicCost;
this.calcGrid[num5].parentTile = tile;
this.calcGrid[num5].knownCost = num7;
this.calcGrid[num5].status = this.statusOpenValue;
this.calcGrid[num5].costNodeCost = num9;
this.openList.Push(new CostNode(num5, num9));
}
num++;
this.calcGrid[tile].status = this.statusClosedValue;
if (terminator != null && terminator((float)this.calcGrid[tile].costNodeCost))
{
break;
}
}
}
}
return(WorldPath.NotFound);
}
