/// <summary>
/// Initiates or resumes RRA* pathfinding to the given target.
/// This variant of RRA* paths on the same grid as the main A* pather but only uses a subset of rules
/// </summary>
/// <returns>The region link closest to the target cell</returns>
/// <param name="targetCell">Target cell.</param>
private void ReverseResumableAStar(CellRef targetCell)
{
ProfilerStart("RRA");
ProfilerStart("RRA Reprioritize");
// Rebuild the open set based on the new target
CellRefNode[] cachedNodes = rraOpenSet.ToArray(); // Cache the nodes because we'll be messing with the queue
foreach (CellRefNode cell in cachedNodes)
{
rraOpenSet.UpdatePriority(cell, rraClosedSet[cell] + RRAHeuristic(cell, targetCell));
}
ProfilerEnd("RRA Reprioritize");
int closedNodes = 0;
while (rraOpenSet.Count > 0)
{
CellRef current = rraOpenSet.Dequeue();
debugReplay.DrawCell(current);
ProfilerCount("RRA Closed");
// Check if we've reached our goal
if (current.Equals(targetCell))
{
ProfilerEnd("RRA");
return;
}
if (closedNodes > SearchLimit)
{
Log.Error("[Trailblazer] RRA* Heuristic closed too many cells, aborting");
ProfilerEnd("RRA");
return;
}
foreach (Direction direction in DirectionUtils.AllDirections)
{
IntVec3 neighborCell = direction.From(current);
CellRef neighbor = map.GetCellRef(neighborCell);
ProfilerStart("RRA Bounds Check");
bool inBounds = neighborCell.InBounds(map);
ProfilerEnd("RRA Bounds Check");
if (inBounds)
{
MoveData moveData = new MoveData(neighbor, direction);
ProfilerStart("RRA Move Check");
bool passable = rraPathfinderGrid.MoveIsValid(moveData);
ProfilerEnd("RRA Move Check");
if (!passable)
{
continue;
}
ProfilerStart("RRA Move Cost");
int newCost = rraClosedSet[current] + rraPathfinderGrid.MoveCost(moveData);
ProfilerEnd("RRA Move Cost");
if (!rraClosedSet.ContainsKey(neighbor) || newCost < rraClosedSet[neighbor])
{
if (rraClosedSet.ContainsKey(neighbor))
{
ProfilerCount("RRA Reopened");
}
else
{
ProfilerCount("RRA New Open");
}
rraClosedSet[neighbor] = newCost;
int estimatedCost = newCost + RRAHeuristic(neighbor, targetCell);
ProfilerStart("RRA Enqueue");
CellRefNode neighborNode = GetNode(neighbor);
if (rraOpenSet.Contains(neighborNode))
{
rraOpenSet.UpdatePriority(neighborNode, estimatedCost);
}
else
{
rraOpenSet.Enqueue(neighborNode, estimatedCost);
}
ProfilerEnd("RRA Enqueue");
}
else
{
ProfilerCount("RRA Rescanned");
}
}
}
debugReplay.NextFrame();
closedNodes++;
}
Log.Error("[Trailblazer] RRA heuristic failed to reach target cell " + targetCell);
ProfilerEnd("RRA");
}
protected int CalcMoveCost(MoveData moveData)
{
return(pathfinderGrid.MoveCost(moveData));
}
