// NOTe: may need a new TraverseParms object
public ThingPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Thing thing = traverseParms.thing;
/*
* 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
* }));
* return ThingPath.NotFound;
* }*/
if (!start.IsValid)
{
// TODO: thing goes here
Log.Error($"Tried to FindPath with invalid start {start}, thing = ");
return(ThingPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error($"Tried to FindPath with invalid dest {start}, thing = ");
return(ThingPath.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(ThingPath.NotFound);
}
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);
// TODO: avoidgrid
//ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid();
bool passAllDestroyableThings = traverseParms.mode == TraverseMode.PassAllDestroyableThings;
bool doNotPassAllDestroyableThings = !passAllDestroyableThings;
CellRect cellRect = this.CalculateDestinationRect(dest, peMode);
bool flag3 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = this.map.pathGrid.pathGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int cellsSearched = 0;
int num4 = 0;
// TODO: allowedArea
//Area allowedArea = this.GetAllowedArea(pawn);
// TODO: ShouldCollideWithThings
//bool flag4 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool drawPaths = DebugViewSettings.drawPaths;
bool flag6 = !passAllDestroyableThings && start.GetRegion(this.map, RegionType.Set_Passable) != null;
bool flag7 = !passAllDestroyableThings || !doNotPassAllDestroyableThings;
bool flag8 = false;
int num5 = 0;
int num6 = 0;
float heuristicStrength = 1.75f;
//float num7 = this.DetermineHeuristicStrength(pawn, start, dest);
int ticksPerMoveCardinal;
int ticksPerMoveDiagonal;
// TODO: handle ticks per move
/*if (pawn != null)
* {
* ticksPerMoveCardinal = pawn.TicksPerMoveCardinal;
* ticksPerMoveDiagonal = pawn.TicksPerMoveDiagonal;
* }
* else*/
{
ticksPerMoveCardinal = 13;
ticksPerMoveDiagonal = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
while (true)
{
if (this.openList.Count <= 0)
{
break;
}
num5 += this.openList.Count;
num6++;
ThingPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
// TODO: cleanup
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
}
else
{
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (drawPaths)
{
this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString());
}
if (flag3)
{
if (num == num2)
{
return(this.FinalizedPath(num));
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
return(this.FinalizedPath(num));
}
if (cellsSearched > ThingPathFinder.SearchLimit)
{
Log.Warning($"{""} pathing from {start} to {dest} hit search limit of {ThingPathFinder.SearchLimit} cells.");
return(ThingPath.NotFound);
}
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + ThingPathFinder.Directions[i]);
uint num11 = (uint)(z2 + ThingPathFinder.Directions[i + 8]);
if ((ulong)num10 < (ulong)((long)this.mapSizeX) && (ulong)num11 < (ulong)((long)this.mapSizeZ))
{
int xPos = (int)num10;
int zPos = (int)num11;
int num14 = this.cellIndices.CellToIndex(xPos, zPos);
if (this.calcGrid[num14].status != this.statusClosedValue || flag8)
{
int num15 = 0;
bool flag9 = false;
if (!this.pathGrid.WalkableFast(num14))
{
if (!passAllDestroyableThings)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(xPos, 0, zPos), 0.22f, "walk");
}
continue;
}
flag9 = true;
num15 += 60;
Building building = edificeGrid[num14];
if (building == null)
{
continue;
}
if (!PathFinder.IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.1f);
}
if (i > 3)
{
switch (i)
{
case 4:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag7)
{
if (drawPaths)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 60;
}
break;
}
}
int num16 = (i <= 3) ? ticksPerMoveCardinal : ticksPerMoveDiagonal;
num16 += num15;
if (!flag9)
{
num16 += array[num14];
}
/*if (byteGrid != null)
* num16 += (int)(byteGrid[num14] * 8);*/
/*if (allowedArea != null && !allowedArea[num14])
* num16 += 600;*/
if (ThingHelper.AnyThingBlockingPathAt(new IntVec3(xPos, 0, zPos), thing))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
int buildingCost = ThingPathFinder.GetBuildingCost(building2, traverseParms, thing);
if (buildingCost == 2147483647)
{
continue;
}
num16 += buildingCost;
}
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 = ticksPerMoveCardinal;
}
if (this.calcGrid[num14].knownCost <= num17 + num18)
{
continue;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag8)
{
Log.Error("GetPathCostFromDestToRegion unimplemented");
//this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * 5f);
}
else
{
int dx = Math.Abs(xPos - x);
int dz = Math.Abs(zPos - z);
int num19 = GenMath.OctileDistance(dx, dz, ticksPerMoveCardinal, ticksPerMoveDiagonal);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num19 * heuristicStrength);
}
}
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 ThingPathFinder.CostNode(num14, num20));
}
}
}
cellsSearched++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= 2000 && flag6 && !flag8)
{
flag8 = true;
//this.regionCostCalculator.Init(cellRect, traverseParms, ticksPerMoveCardinal, ticksPerMoveDiagonal, null, null, this.disallowedCornerIndices);
this.InitStatusesAndPushStartNode(ref num, start);
}
}
}
//string job = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString();
//string faction = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString();
//Log.Warning($"{""} pathing from {start} to {dest} ran of cells to process.\nJob: {job}\nFaction: {faction}");
// TODO
Log.Error("Thing Pathing error!");
return(ThingPath.NotFound);
}
private void DebugFlash(IntVec3 c, float colorPct, string str)
{
ThingPathFinder.DebugFlash(c, this.map, colorPct, str);
}
private bool BlocksDiagonalMovement(int index) => ThingPathFinder.BlocksDiagonalMovement(index, this.map);
public static bool BlocksDiagonalMovement(int x, int z, Map map)
{
return(ThingPathFinder.BlocksDiagonalMovement(map.cellIndices.CellToIndex(x, z), map));
}
private bool BlocksDiagonalMovement(int x, int z) => ThingPathFinder.BlocksDiagonalMovement(x, z, this.map);
