public WorldPath FindPath(int startTile, int destTile, Caravan caravan, Func <float, bool> terminator = null) { if (startTile < 0) { Log.Error(string.Concat(new object[] { "Tried to FindPath with invalid start tile ", startTile, ", caravan= ", caravan }), false); return(WorldPath.NotFound); } if (destTile < 0) { Log.Error(string.Concat(new object[] { "Tried to FindPath with invalid dest tile ", destTile, ", caravan= ", caravan }), false); 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; float[] movementDifficulty = world.pathGrid.movementDifficulty; int num = 0; int num2 = (caravan == null) ? 3300 : 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 WorldPathFinder.CostNode(startTile, 0)); while (this.openList.Count > 0) { WorldPathFinder.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)this.calcGrid[tile].knownCost / 375000f, this.calcGrid[tile].knownCost.ToString(), 50); } if (tile == destTile) { return(this.FinalizedPath(tile)); } if (num > 500000) { Log.Warning(string.Concat(new object[] { caravan, " pathing from ", startTile, " to ", destTile, " hit search limit of ", 500000, " tiles." }), false); 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]; if (this.calcGrid[num5].status != this.statusClosedValue) { if (!world.Impassable(num5)) { int num6 = (int)((float)num2 * movementDifficulty[num5] * grid.GetRoadMovementDifficultyMultiplier(tile, num5, null)); int num7 = num6 + this.calcGrid[tile].knownCost; ushort status = this.calcGrid[num5].status; if ((status != this.statusClosedValue && status != this.statusOpenValue) || this.calcGrid[num5].knownCost > num7) { 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)num2 * num8 * (float)num3 * 0.5f); } 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 WorldPathFinder.CostNode(num5, num9)); } } } } num++; this.calcGrid[tile].status = this.statusClosedValue; if (terminator != null && terminator((float)this.calcGrid[tile].costNodeCost)) { return(WorldPath.NotFound); } } } } Log.Warning(string.Concat(new object[] { caravan, " pathing from ", startTile, " to ", destTile, " ran out of tiles to process." }), false); return(WorldPath.NotFound); }
public void FloodPathsWithCost(List <int> startTiles, Func <int, int, int> costFunc, Func <int, bool> impassable = null, Func <int, float, bool> terminator = null) { if (startTiles.Count < 1 || startTiles.Contains(-1)) { Log.Error("Tried to FindPath with invalid start tiles", false); return; } World world = Find.World; WorldGrid grid = world.grid; List <int> tileIDToNeighbors_offsets = grid.tileIDToNeighbors_offsets; List <int> tileIDToNeighbors_values = grid.tileIDToNeighbors_values; if (impassable == null) { impassable = ((int tid) => world.Impassable(tid)); } this.statusOpenValue += 2; this.statusClosedValue += 2; if (this.statusClosedValue >= 65435) { this.ResetStatuses(); } this.openList.Clear(); foreach (int current in startTiles) { this.calcGrid[current].knownCost = 0; this.calcGrid[current].costNodeCost = 0; this.calcGrid[current].parentTile = current; this.calcGrid[current].status = this.statusOpenValue; this.openList.Push(new WorldPathFinder.CostNode(current, 0)); } while (this.openList.Count > 0) { WorldPathFinder.CostNode costNode = this.openList.Pop(); if (costNode.cost == this.calcGrid[costNode.tile].costNodeCost) { int tile = costNode.tile; if (this.calcGrid[tile].status != this.statusClosedValue) { int num = (tile + 1 >= tileIDToNeighbors_offsets.Count) ? tileIDToNeighbors_values.Count : tileIDToNeighbors_offsets[tile + 1]; for (int i = tileIDToNeighbors_offsets[tile]; i < num; i++) { int num2 = tileIDToNeighbors_values[i]; if (this.calcGrid[num2].status != this.statusClosedValue) { if (!impassable(num2)) { int num3 = costFunc(tile, num2); int num4 = num3 + this.calcGrid[tile].knownCost; ushort status = this.calcGrid[num2].status; if ((status != this.statusClosedValue && status != this.statusOpenValue) || this.calcGrid[num2].knownCost > num4) { int num5 = num4; this.calcGrid[num2].parentTile = tile; this.calcGrid[num2].knownCost = num4; this.calcGrid[num2].status = this.statusOpenValue; this.calcGrid[num2].costNodeCost = num5; this.openList.Push(new WorldPathFinder.CostNode(num2, num5)); } } } } this.calcGrid[tile].status = this.statusClosedValue; if (terminator != null && terminator(tile, (float)this.calcGrid[tile].costNodeCost)) { break; } } } } }