public static PathEndMode ResolveClosestTouchPathMode(Pawn pawn, VehicleMapping mapE, IntVec3 target)
{
if (ShouldNotEnterCell(pawn, mapE, target))
{
return(PathEndMode.Touch);
}
return(PathEndMode.OnCell);
}
public static bool IsCornerTouchAllowed(int cornerX, int cornerZ, int adjCardinal1X, int adjCardinal1Z, int adjCardinal2X, int adjCardinal2Z, Map map)
{
Building building = map.edificeGrid[new IntVec3(cornerX, 0, cornerZ)];
if (!(building is null) && MakesOccupiedCellsAlwaysReachableDiagonally(building.def))
{
return(true);
}
IntVec3 intVec = new IntVec3(adjCardinal1X, 0, adjCardinal1Z);
IntVec3 intVec2 = new IntVec3(adjCardinal2X, 0, adjCardinal2Z);
VehicleMapping mapE = map.GetCachedMapComponent <VehicleMapping>();
return((mapE.VehiclePathGrid.Walkable(intVec) && intVec.GetDoor(map) is null) || (mapE.VehiclePathGrid.Walkable(intVec2) && intVec2.GetDoor(map) is null));
}
private static bool ShouldNotEnterCell(Pawn pawn, VehicleMapping mapE, IntVec3 dest)
{
if (mapE.VehiclePathGrid.PerceivedPathCostAt(dest) > 30)
{
return(true);
}
if (!GenGridVehicles.Walkable(dest, mapE))
{
return(true);
}
if (pawn is VehiclePawn)
{
if (dest.IsForbidden(pawn))
{
return(true);
}
//Add utility for doors later?
}
return(false);
}
public (PawnPath path, bool found) FindVehiclePath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, CancellationToken token, PathEndMode peMode = PathEndMode.OnCell, bool waterPathing = false)
{
if (report)
{
Debug.Message($"{VehicleHarmony.LogLabel} MainPath for {traverseParms.pawn.LabelShort} - ThreadId: [{Thread.CurrentThread.ManagedThreadId}] TaskId: [{Task.CurrentId}]");
}
postCalculatedCells.Clear();
VehicleMapping VehicleMapping = map.GetCachedMapComponent <VehicleMapping>();
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
VehiclePawn pawn = traverseParms.pawn as VehiclePawn;
if (!pawn.IsBoat() && waterPathing)
{
Log.Error($"Set to waterPathing but {pawn.LabelShort} is not registered as a Boat. Self Correcting...");
waterPathing = false;
}
if (!(pawn is null) && pawn.Map != map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindVehiclePath for pawn which is spawned in another map. Their map PathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", map
}));
return(PawnPath.NotFound, false);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}));
return(PawnPath.NotFound, false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}));
return(PawnPath.NotFound, false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (waterPathing)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!ReachabilityUtility.CanReach(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound, false);
}
}
}
else
{
if (waterPathing)
{
if (!VehicleMapping.VehicleReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
else
{
if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound, false);
}
}
}
cellIndices = map.cellIndices;
VehiclePathGrid = VehicleMapping.VehiclePathGrid;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int num = cellIndices.CellToIndex(start);
int num2 = cellIndices.CellToIndex(dest.Cell);
ByteGrid byteGrid = (pawn is null) ? null : pawn.GetAvoidGrid(true);
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] boatsArray = VehiclePathGrid.pathGrid;
int[] vehicleArray = pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(VehicleGridsUtility.GetRegion(start, map, RegionType.Set_Passable) is null) && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = !(pawn is null) && pawn.Drafted;
bool flag11 = !(pawn is null) && !(pawn is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref num, start);
Rot8 rot = pawn.FullRotation;
int iterations = 0;
for (;;)
{
if (token.IsCancellationRequested)
{
return(PawnPath.NotFound, false);
}
iterations++;
if (openList.Count <= 0)
{
break;
}
num6 += openList.Count;
num7++;
CostNode costNode = openList.Pop();
num = costNode.index;
if (costNode.cost == calcGrid[num].costNodeCost && calcGrid[num].status != statusClosedValue)
{
IntVec3 c = cellIndices.IndexToCell(num);
IntVec3 prevCell = c;
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, calcGrid[num].knownCost / 1500f, calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
goto Block_32;
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(num))
{
goto Block_32;
}
if (num3 > SearchLimit)
{
goto Block_33;
}
List <IntVec3> fullRectCells = CellRect.CenteredOn(c, pawn.def.size.x, pawn.def.size.z).Where(cl2 => cl2 != c).ToList();
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + Directions[i]); //x
uint num12 = (uint)(z2 + Directions[i + 8]); //y
if (num11 < ((ulong)mapSizeX) && num12 < (ulong)(mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = cellIndices.CellToIndex(num13, num14);
IntVec3 cellToCheck = cellIndices.IndexToCell(num15);
if (VehicleMod.settings.main.fullVehiclePathing && pawn.LocationRestrictedBySize(cellToCheck))
{
goto EndPathing;
}
if (calcGrid[num15].status != statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false; //Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(map).HasTag("Water"))
{
if (waterPathing)
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
else
{
if (!pawn.DrivableFast(num15))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto EndPathing;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto EndPathing;
}
if (!IsDestroyable(building))
{
goto EndPathing;
}
num16 += (int)(building.HitPoints * 0.2f);
}
}
if (i > 3)
{
switch (i)
{
case 4:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(pawn, num + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(pawn, num - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
if (BlocksDiagonalMovement(pawn, num - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto EndPathing;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
//if (Rot8.DirectionFromCells(prevCell, cellToCheck) != rot)
//{
// Log.Message("Additional Cost");
// num17 += ChangeDirectionAdditionalCost;
//}
if (!flag12 && !waterPathing)
{
//Extra Terrain costs
if (pawn.VehicleDef.properties.customTerrainCosts?.NotNullAndAny() ?? false)
{
TerrainDef currentTerrain = map.terrainGrid.TerrainAt(num15);
if (pawn.VehicleDef.properties.customTerrainCosts.ContainsKey(currentTerrain))
{
int customCost = pawn.VehicleDef.properties.customTerrainCosts[currentTerrain];
if (customCost < 0)
{
goto EndPathing;
}
num17 += customCost;
}
else
{
num17 += vehicleArray[num15];
}
}
else
{
num17 += vehicleArray[num15];
}
num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
}
if (byteGrid != null)
{
num17 += (byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && MultithreadHelper.AnyVehicleBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true) != null)
{
num17 += Cost_PawnCollision;
}
Building building2 = edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
if (blueprintGrid[num15] != null)
{
List <Blueprint> list = new List <Blueprint>(blueprintGrid[num15]);
if (!list.NullOrEmpty())
{
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
goto EndPathing;
}
num17 += num18;
}
}
int num19 = num17 + calcGrid[num].knownCost;
ushort status = calcGrid[num15].status;
//if(pawn.Props.useFullHitboxPathing)
//{
// foreach(IntVec3 fullRect in fullRectCells)
// {
// if(fullRect != cellToCheck)
// {
// num19 += calcGrid[cellIndices.CellToIndex(fullRect)].knownCost;
// Log.Message($"Cell: {fullRect} Cost: {num19}");
// if(postCalculatedCells.ContainsKey(fullRect))
// {
// postCalculatedCells[fullRect] = num19;
// }
// else
// {
// postCalculatedCells.Add(fullRect, num19);
// }
// }
// }
//}
//Only generate path costs for linear non-reverse pathing check
if (report)
{
if (postCalculatedCells.ContainsKey(cellToCheck))
{
postCalculatedCells[cellToCheck] = num19;
}
else
{
postCalculatedCells.Add(cellToCheck, num19);
}
}
if (waterPathing && !map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == statusClosedValue || status == statusOpenValue)
{
int num20 = 0;
if (status == statusClosedValue)
{
num20 = num9;
}
if (calcGrid[num15].knownCost <= num19 + num20)
{
goto EndPathing;
}
}
if (flag9)
{
calcGrid[num15].heuristicCost = waterPathing ? Mathf.RoundToInt(regionCostCalculatorSea.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4)) : Mathf.RoundToInt(regionCostCalculatorLand.GetPathCostFromDestToRegion(num15) *
RegionheuristicWeighByNodesOpened.Evaluate(num4));
if (calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for vehicle ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009);
calcGrid[num15].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + calcGrid[num15].heuristicCost;
if (num22 < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Node cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 87865822);
num22 = 0;
}
calcGrid[num15].parentIndex = num;
calcGrid[num15].knownCost = num19;
calcGrid[num15].status = statusOpenValue;
calcGrid[num15].costNodeCost = num22;
num4++;
rot = Rot8.DirectionFromCells(prevCell, cellToCheck);
openList.Push(new CostNode(num15, num22));
}
}
}
EndPathing :;
}
num3++;
calcGrid[num].status = statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
if (waterPathing)
{
regionCostCalculatorSea.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
else
{
regionCostCalculatorLand.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, disallowedCornerIndices);
}
InitStatusesAndPushStartNode(ref num, start);
num4 = 0;
num3 = 0;
}
}
}
string text = ((pawn is null) || pawn.CurJob is null) ? "null" : pawn.CurJob.ToString();
string text2 = ((pawn is null) || pawn.Faction is null) ? "null" : pawn.Faction.ToString();
if (report)
{
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2,
"\niterations: ", iterations
}));
}
DebugDrawRichData();
return(PawnPath.NotFound, false);
Block_32:
PawnPath result = PawnPath.NotFound;
if (report)
{
result = FinalizedPath(num, flag9);
}
DebugDrawPathCost();
return(result, true);
Block_33:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}));
DebugDrawRichData();
return(PawnPath.NotFound, false);
}
public static bool Walkable(this IntVec3 c, VehicleMapping mapE)
{
return(mapE.VehiclePathGrid.Walkable(c));
}
public VehicleRegionCostCalculator(Map map)
{
this.map = map;
mapE = map.GetComponent <VehicleMapping>();
preciseRegionLinkDistancesDistanceGetter = new Func <int, int, float>(PreciseRegionLinkDistancesDistanceGetter);
}
