public static bool FindPath(BasePathNode start, BasePathNode goal, out Stack <BasePathNode> path, out float pathCost)
{
path = null;
pathCost = -1f;
bool flag = false;
if (start == goal)
{
return(false);
}
AStarNodeList aStarNodeList = new AStarNodeList();
HashSet <BasePathNode> basePathNodes = new HashSet <BasePathNode>();
AStarNode aStarNode = new AStarNode(0f, AStarPath.Heuristic(start, goal), null, start);
aStarNodeList.Add(aStarNode);
while (aStarNodeList.Count > 0)
{
AStarNode item = aStarNodeList[0];
aStarNodeList.RemoveAt(0);
basePathNodes.Add(item.Node);
if (!item.Satisfies(goal))
{
foreach (BasePathNode node in item.Node.linked)
{
if (basePathNodes.Contains(node))
{
continue;
}
float g = item.G + AStarPath.Heuristic(item.Node, node);
AStarNode aStarNodeOf = aStarNodeList.GetAStarNodeOf(node);
if (aStarNodeOf != null)
{
if (g >= aStarNodeOf.G)
{
continue;
}
aStarNodeOf.Update(g, aStarNodeOf.H, item, node);
aStarNodeList.AStarNodeSort();
}
else
{
aStarNodeOf = new AStarNode(g, AStarPath.Heuristic(node, goal), item, node);
aStarNodeList.Add(aStarNodeOf);
aStarNodeList.AStarNodeSort();
}
}
}
else
{
path = new Stack <BasePathNode>();
pathCost = 0f;
while (item.Parent != null)
{
pathCost += item.F;
path.Push(item.Node);
item = item.Parent;
}
if (item != null)
{
path.Push(item.Node);
}
flag = true;
break;
}
}
return(flag);
}
public static bool FindPath(
BasePathNode start,
BasePathNode goal,
out Stack <BasePathNode> path,
out float pathCost)
{
path = (Stack <BasePathNode>)null;
pathCost = -1f;
bool flag = false;
if (Object.op_Equality((Object)start, (Object)goal))
{
return(false);
}
AStarNodeList astarNodeList = new AStarNodeList();
HashSet <BasePathNode> basePathNodeSet = new HashSet <BasePathNode>();
AStarNode astarNode1 = new AStarNode(0.0f, AStarPath.Heuristic(start, goal), (AStarNode)null, start);
astarNodeList.Add(astarNode1);
while (astarNodeList.Count > 0)
{
AStarNode parent = astarNodeList[0];
astarNodeList.RemoveAt(0);
basePathNodeSet.Add(parent.Node);
if (parent.Satisfies(goal))
{
path = new Stack <BasePathNode>();
pathCost = 0.0f;
for (; parent.Parent != null; parent = parent.Parent)
{
pathCost += parent.F;
path.Push(parent.Node);
}
if (parent != null)
{
path.Push(parent.Node);
}
flag = true;
break;
}
foreach (BasePathNode basePathNode in parent.Node.linked)
{
if (!basePathNodeSet.Contains(basePathNode))
{
float g = parent.G + AStarPath.Heuristic(parent.Node, basePathNode);
AStarNode astarNodeOf = astarNodeList.GetAStarNodeOf(basePathNode);
if (astarNodeOf == null)
{
AStarNode astarNode2 = new AStarNode(g, AStarPath.Heuristic(basePathNode, goal), parent, basePathNode);
astarNodeList.Add(astarNode2);
astarNodeList.AStarNodeSort();
}
else if ((double)g < (double)astarNodeOf.G)
{
astarNodeOf.Update(g, astarNodeOf.H, parent, basePathNode);
astarNodeList.AStarNodeSort();
}
}
}
}
return(flag);
}
