public List<PathFindingSystem.PFNode> FindPath(Vector2 v2StartPos, Vector2 v2EndPos)
{
if (this.lxNodes.Count == 0)
{
return null;
}
PathFindingSystem.PFNode xStart = this.FindClosestWithVision(v2StartPos);
PathFindingSystem.PFNode xEnd = this.FindClosestWithVision(v2EndPos);
if (xStart == null || xEnd == null)
{
return null;
}
bool bFoundGoal = false;
List<PathFindingSystem.WorkNode> Open = new List<PathFindingSystem.WorkNode>();
List<PathFindingSystem.WorkNode> Closed = new List<PathFindingSystem.WorkNode>();
List<PathFindingSystem.PFNode> lxPath = new List<PathFindingSystem.PFNode>();
Open.Add(new PathFindingSystem.WorkNode(xStart));
while (!bFoundGoal)
{
PathFindingSystem.WorkNode xCur = Open[0];
if (xCur.xOwnedNode == xEnd)
{
PathFindingSystem.PFNode arg_68_0 = xCur.xOwnedNode;
while (true)
{
lxPath.Add(xCur.xOwnedNode);
if (xCur.xOwnedNode == xStart)
{
break;
}
xCur = xCur.xShortestPathNode;
}
lxPath.Reverse();
if (lxPath.Count > 1 && !Program.game._CollisionMaster_RayCastVsStatic(lxPath[1].v2Position, v2StartPos, 2f, 3, Utility.CreateIntMask(new int[]
{
30
})))
{
lxPath.RemoveAt(0);
}
return lxPath;
}
PathFindingSystem.PFNode xToOpen = null;
float fMinDist = 0f;
for (int i = 0; i < xCur.xOwnedNode.lxConnectedNodes.Count; i++)
{
if (this.GetNodeFromList(Closed, xCur.xOwnedNode.lxConnectedNodes[i].xTo) == null)
{
PathFindingSystem.WorkNode xFound;
if ((xFound = this.GetNodeFromList(Open, xCur.xOwnedNode.lxConnectedNodes[i].xTo)) != null)
{
xFound.CompareNode(xCur);
}
else if (xToOpen == null)
{
xToOpen = xCur.xOwnedNode.lxConnectedNodes[i].xTo;
fMinDist = Vector2.DistanceSquared(v2EndPos, xToOpen.v2Position);
}
else
{
float fThis = Vector2.DistanceSquared(v2EndPos, xCur.xOwnedNode.lxConnectedNodes[i].xTo.v2Position);
if (fMinDist > fThis)
{
fMinDist = fThis;
xToOpen = xCur.xOwnedNode.lxConnectedNodes[i].xTo;
}
}
}
}
if (xToOpen != null)
{
PathFindingSystem.WorkNode add = new PathFindingSystem.WorkNode(xToOpen);
add.CompareNode(xCur);
Open.Insert(0, add);
}
else
{
Closed.Add(xCur);
Open.RemoveAt(0);
if (Open.Count == 0)
{
return null;
}
}
}
return lxPath;
}
public void CompareNode(PathFindingSystem.WorkNode xNewNode)
{
if (this.xShortestPathNode == null)
{
this.xShortestPathNode = xNewNode;
this.fShortestPath = xNewNode.fShortestPath + Vector2.Distance(xNewNode.xOwnedNode.v2Position, this.xShortestPathNode.xOwnedNode.v2Position);
return;
}
float fDistance = Vector2.Distance(xNewNode.xOwnedNode.v2Position, this.xShortestPathNode.xOwnedNode.v2Position);
if (xNewNode.fShortestPath + fDistance < this.fShortestPath)
{
this.fShortestPath = xNewNode.fShortestPath + fDistance;
this.xShortestPathNode = xNewNode;
}
}
