//public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, Pawn pawn, PathEndMode peMode = PathEndMode.OnCell) //{ // bool flag = false; // if (pawn != null && pawn.CurJob != null && pawn.CurJob.canBash) // { // flag = true; // } // Danger maxDanger = Danger.Deadly; // bool canBash = flag; // return this.FindPath(start, dest, TraverseParms.For(pawn, maxDanger, TraverseMode.ByPawn, canBash), peMode); //} public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell) { //Walk through Walls Mode if (DebugSettings.pathThroughWalls) { traverseParms.mode = TraverseMode.PassAllDestroyableThings; } //Check if there's a pawn to path for Pawn pawn = traverseParms.pawn; 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 CVPathFinder should have been used, not this one. pawn=", pawn, " pawn.Map=", pawn.Map, " map=", this.map })); return(PawnPath.NotFound); } //Make sure the start is valid if (!start.IsValid) { Log.Error(string.Concat(new object[] { "Tried to FindPath with invalid start ", start, ", pawn= ", pawn })); return(PawnPath.NotFound); } //Make sure the end is valid if (!dest.IsValid) { Log.Error(string.Concat(new object[] { "Tried to FindPath with invalid dest ", dest, ", pawn= ", pawn })); return(PawnPath.NotFound); } //Check if it's possible to get to the destination Log.Error(traverseParms.mode.ToString()); 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(PawnPath.NotFound); } Log.Error("a"); this.PfProfilerBeginSample(string.Concat(new object[] { "FindPath for ", pawn, " from ", start, " to ", dest, (!dest.HasThing) ? string.Empty : (" at " + dest.Cell) })); 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); ByteGrid byteGrid = (pawn == null) ? null : pawn.GetAvoidGrid(); bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings; bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater; bool flag3 = !flag; CellRect cellRect = this.CalculateDestinationRect(dest, peMode); bool flag4 = cellRect.Width == 1 && cellRect.Height == 1; int[] array = this.map.pathGrid.pathGrid; EdificeGrid edificeGrid = this.map.edificeGrid; int num3 = 0; int num4 = 0; Area allowedArea = this.GetAllowedArea(pawn); bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn); bool flag6 = true && DebugViewSettings.drawPaths; bool flag7 = !flag && start.GetRegion(this.map, RegionType.Set_Passable) != null; bool flag8 = !flag || !flag3; bool flag9 = false; int num5 = 0; int num6 = 0; float num7 = this.DetermineHeuristicStrength(pawn, start, dest); int num8; int num9; Log.Error("b"); if (pawn != null) { num8 = pawn.TicksPerMoveCardinal; num9 = pawn.TicksPerMoveDiagonal; } else { num8 = 13; num9 = 18; } this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect); this.InitStatusesAndPushStartNode(ref num, start); while (true) { Log.Error("c"); this.PfProfilerBeginSample("Open cell"); if (this.openList.Count <= 0) { break; } num5 += this.openList.Count; num6++; CVPathFinder.CostNode costNode = this.openList.Pop(); num = costNode.index; if (costNode.cost != this.calcGrid[num].costNodeCost) { Log.Error("d"); this.PfProfilerEndSample(); } else if (this.calcGrid[num].status == this.statusClosedValue) { Log.Error("e"); this.PfProfilerEndSample(); } else { Log.Error("f"); IntVec3 c = this.cellIndices.IndexToCell(num); int x2 = c.x; int z2 = c.z; if (flag6) { this.DebugFlash(c, (float)this.calcGrid[num].knownCost / 1500f, this.calcGrid[num].knownCost.ToString()); } if (flag4) { if (num == num2) { goto Block_27; } } else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num)) { goto Block_29; } if (num3 > 160000) { goto Block_30; } this.PfProfilerEndSample(); this.PfProfilerBeginSample("Neighbor consideration"); for (int i = 0; i < 8; i++) { uint num10 = (uint)(x2 + CVPathFinder.Directions[i]); uint num11 = (uint)(z2 + CVPathFinder.Directions[i + 8]); if ((ulong)num10 < (ulong)((long)this.mapSizeX) && (ulong)num11 < (ulong)((long)this.mapSizeZ)) { int num12 = (int)num10; int num13 = (int)num11; int num14 = this.cellIndices.CellToIndex(num12, num13); if (this.calcGrid[num14].status != this.statusClosedValue || flag9) { int num15 = 0; bool flag10 = false; if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water") || (pawn.GetComp <CompVehicle>() != null && pawn.GetComp <CompVehicle>().Props.vehicleType == VehicleType.Amphibious)) { if (!this.pathGrid.WalkableFast(num14)) { if (!flag) { if (flag6) { this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk"); } goto IL_C2E; } flag10 = true; num15 += 70; Building building = edificeGrid[num14]; if (building == null) { goto IL_C2E; } if (!CVPathFinder.IsDestroyable(building)) { goto IL_C2E; } num15 += (int)((float)building.HitPoints * 0.11f); } if (i > 3) { switch (i) { case 4: if (this.BlocksDiagonalMovement(num - this.mapSizeX)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } if (this.BlocksDiagonalMovement(num + 1)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } break; case 5: if (this.BlocksDiagonalMovement(num + this.mapSizeX)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } if (this.BlocksDiagonalMovement(num + 1)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } break; case 6: if (this.BlocksDiagonalMovement(num + this.mapSizeX)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } if (this.BlocksDiagonalMovement(num - 1)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } break; case 7: if (this.BlocksDiagonalMovement(num - this.mapSizeX)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } if (this.BlocksDiagonalMovement(num - 1)) { if (flag8) { if (flag6) { this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn"); } goto IL_C2E; } num15 += 70; } break; } } Log.Error("g"); int num16 = (i <= 3) ? num8 : num9; num16 += num15; if (!flag10) { num16 += array[num14]; } if (byteGrid != null) { num16 += (int)(byteGrid[num14] * 8); } if (allowedArea != null && !allowedArea[num14]) { num16 += 600; } if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false)) { num16 += 175; } Log.Error("h"); Building building2 = this.edificeGrid[num14]; if (building2 != null) { this.PfProfilerBeginSample("Edifices"); int buildingCost = CVPathFinder.GetBuildingCost(building2, traverseParms, pawn); if (buildingCost == 2147483647) { this.PfProfilerEndSample(); goto IL_C2E; } num16 += buildingCost; this.PfProfilerEndSample(); } 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 = num8; } if (this.calcGrid[num14].knownCost <= num17 + num18) { goto IL_C2E; } } if (status != this.statusClosedValue && status != this.statusOpenValue) { if (flag9) { this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * CVPathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4)); } else { int dx = Math.Abs(num12 - x); int dz = Math.Abs(num13 - z); int num19 = GenMath.OctileDistance(dx, dz, num8, num9); this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num19 * num7); } } 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 CVPathFinder.CostNode(num14, num20)); } } } IL_C2E :; } this.PfProfilerEndSample(); num3++; this.calcGrid[num].status = this.statusClosedValue; if (num4 >= 2000 && flag7 && !flag9) { flag9 = true; this.regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, this.disallowedCornerIndices); this.InitStatusesAndPushStartNode(ref num, start); num4 = 0; num3 = 0; } } } string text = (pawn == null || pawn.CurJob == null) ? "null" : pawn.CurJob.ToString(); string text2 = (pawn == null || pawn.Faction == null) ? "null" : pawn.Faction.ToString(); Log.Warning(string.Concat(new object[] { pawn, " pathing from ", start, " to ", dest, " ran out of cells to process.\nJob:", text, "\nFaction: ", text2 })); this.DebugDrawRichData(); this.PfProfilerEndSample(); return(PawnPath.NotFound); Block_27: this.PfProfilerEndSample(); PawnPath result = this.FinalizedPath(num); this.PfProfilerEndSample(); return(result); Block_29: this.PfProfilerEndSample(); PawnPath result2 = this.FinalizedPath(num); this.PfProfilerEndSample(); return(result2); Block_30: Log.Warning(string.Concat(new object[] { pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells." })); this.DebugDrawRichData(); this.PfProfilerEndSample(); return(PawnPath.NotFound); }