//public static FastPriorityQueue<CostNode2> openList = new FastPriorityQueue<CostNode2>(new CostNodeComparer2());
//public static PathFinderNodeFast[] calcGrid = new PathFinderNodeFast[40000];
//public static ushort statusOpenValue = 1;
//public static ushort statusClosedValue = 2;
public static bool FindPath(PathFinder __instance, ref PawnPath __result, IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
FastPriorityQueue <CostNode2> openList = getOpenList();
ushort statusOpenValue = getOpenValue();
ushort statusClosedValue = getClosedValue();
PathFinderNodeFast[] calcGrid = getCalcGrid(__instance);
RegionCostCalculatorWrapper regionCostCalculator = getRegionCostCalculatorWrapper(__instance);
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != mapField(__instance))
{
Log.Error(string.Concat("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=", mapField(__instance)));
__result = PawnPath.NotFound;
return(false);
}
if (!start.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid start ", start, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (!dest.IsValid)
{
Log.Error(string.Concat("Tried to FindPath with invalid dest ", dest, ", pawn= ", pawn));
__result = PawnPath.NotFound;
return(false);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
__result = PawnPath.NotFound;
return(false);
}
}
else if (!mapField(__instance).reachability.CanReach(start, dest, peMode, traverseParms))
{
__result = PawnPath.NotFound;
return(false);
}
PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndicesField(__instance) = mapField(__instance).cellIndices;
pathGridField(__instance) = mapField(__instance).pathGrid;
edificeGridField(__instance) = mapField(__instance).edificeGrid.InnerArray;
blueprintGridField(__instance) = mapField(__instance).blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndicesField(__instance).CellToIndex(start);
int num = cellIndicesField(__instance).CellToIndex(dest.Cell);
ByteGrid byteGrid = pawn?.GetAvoidGrid();
bool flag = traverseParms.mode == TraverseMode.PassAllDestroyableThings || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
bool flag2 = traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater && traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
bool flag3 = !flag;
CellRect destinationRect = CalculateDestinationRect(dest, peMode);
bool flag4 = destinationRect.Width == 1 && destinationRect.Height == 1;
int[] array = mapField(__instance).pathGrid.pathGrid;
TerrainDef[] topGrid = mapField(__instance).terrainGrid.topGrid;
EdificeGrid edificeGrid = mapField(__instance).edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = !flag && start.GetRegion(mapField(__instance)) != null && flag2;
bool flag7 = !flag || !flag3;
bool flag8 = false;
bool flag9 = pawn?.Drafted ?? false;
int num4 = (pawn?.IsColonist ?? false) ? 100000 : 2000;
int num5 = 0;
int num6 = 0;
float num7 = DetermineHeuristicStrength(pawn, start, dest);
int num8;
int num9;
if (pawn != null)
{
num8 = pawn.TicksPerMoveCardinal;
num9 = pawn.TicksPerMoveDiagonal;
}
else
{
num8 = 13;
num9 = 18;
}
CalculateAndAddDisallowedCorners2(disallowedCornerIndicesField(__instance), mapField(__instance), peMode, destinationRect);
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 0)
{
string text = (pawn != null && pawn.CurJob != null) ? pawn.CurJob.ToString() : "null";
string text2 = (pawn != null && pawn.Faction != null) ? pawn.Faction.ToString() : "null";
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " ran out of cells to process.\nJob:", text, "\nFaction: ", text2));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
num5 += openList.Count;
num6++;
CostNode2 costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndicesField(__instance).IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result;
return(false);
}
}
else if (destinationRect.Contains(c) && !disallowedCornerIndicesField(__instance).Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath2(curIndex, flag8, cellIndicesField(__instance), calcGrid);
PfProfilerEndSample();
__result = result2;
return(false);
}
if (num2 > 160000)
{
break;
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + Directions[i]);
uint num11 = (uint)(z2 + Directions[i + 8]);
if (num10 >= mapSizeXField(__instance) || num11 >= mapSizeZField(__instance))
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndicesField(__instance).CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
int num15 = 0;
bool flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(mapField(__instance)).HasTag("Water"))
{
continue;
}
if (!pathGridField(__instance).WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !PathFinder.IsDestroyable(building))
{
continue;
}
num15 += (int)(building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex + 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (PathFinder.BlocksDiagonalMovement(curIndex + mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (PathFinder.BlocksDiagonalMovement(curIndex - mapSizeXField(__instance), mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (PathFinder.BlocksDiagonalMovement(curIndex - 1, mapField(__instance)))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = (i > 3) ? num9 : num8;
num16 += num15;
if (!flag10)
{
num16 += array[num14];
num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = edificeGridField(__instance)[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGridField(__instance)[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num17 == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += num17;
PfProfilerEndSample();
}
int num18 = num16 + calcGrid[curIndex].knownCost;
ushort status = calcGrid[num14].status;
if (status == statusClosedValue || status == statusOpenValue)
{
int num19 = 0;
if (status == statusClosedValue)
{
num19 = num8;
}
if (calcGrid[num14].knownCost <= num18 + num19)
{
continue;
}
}
if (flag8)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate(num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat("Heuristic cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0xB8DC389);
calcGrid[num14].heuristicCost = 0;
}
}
else if (status != statusClosedValue && status != statusOpenValue)
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num20 = GenMath.OctileDistance(dx, dz, num8, num9);
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num20 * num7);
}
int num21 = num18 + calcGrid[num14].heuristicCost;
if (num21 < 0)
{
Log.ErrorOnce(string.Concat("Node cost overflow for ", pawn.ToStringSafe(), " pathing from ", start, " to ", dest, "."), pawn.GetHashCode() ^ 0x53CB9DE);
num21 = 0;
}
calcGrid[num14].parentIndex = curIndex;
calcGrid[num14].knownCost = num18;
calcGrid[num14].status = statusOpenValue;
calcGrid[num14].costNodeCost = num21;
num3++;
openList.Push(new CostNode2(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(destinationRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndicesField(__instance));
InitStatusesAndPushStartNode3(ref curIndex, start, cellIndicesField(__instance), calcGrid, ref statusOpenValue, ref statusClosedValue);
openList.Clear();
openList.Push(new CostNode2(curIndex, 0));
num3 = 0;
num2 = 0;
}
}
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
__result = PawnPath.NotFound;
return(false);
}
/// <summary>
/// Checks whether a cell blocks diagonal movement.
/// </summary>
/// <returns><c>true</c> if diagonal movement is blocked, <c>false</c> otherwise.</returns>
/// <param name="cell">The cell to check.</param>
private bool BlocksDiagonalMovement(IntVec3 cell)
{
return(PathFinder.BlocksDiagonalMovement(cell.x, cell.z, pathfindData.map));
}
public static bool PathableNeighborIndices(RegionCostCalculator __instance, ref List <int> __result, int index)
{
if (tmpPathableNeighborIndices == null)
{
tmpPathableNeighborIndices = new List <int>();
}
else
{
tmpPathableNeighborIndices.Clear();
}
PathGrid pathGrid = map(__instance).pathGrid;
int x = map(__instance).Size.x;
bool num = index % x > 0;
bool flag = index % x < x - 1;
bool flag2 = index >= x;
bool flag3 = index / x < map(__instance).Size.z - 1;
if (flag2 && pathGrid.WalkableFast(index - x))
{
tmpPathableNeighborIndices.Add(index - x);
}
if (flag && pathGrid.WalkableFast(index + 1))
{
tmpPathableNeighborIndices.Add(index + 1);
}
if (num && pathGrid.WalkableFast(index - 1))
{
tmpPathableNeighborIndices.Add(index - 1);
}
if (flag3 && pathGrid.WalkableFast(index + x))
{
tmpPathableNeighborIndices.Add(index + x);
}
bool flag4 = !num || PathFinder.BlocksDiagonalMovement(index - 1, map(__instance));
bool flag5 = !flag || PathFinder.BlocksDiagonalMovement(index + 1, map(__instance));
if (flag2 && !PathFinder.BlocksDiagonalMovement(index - x, map(__instance)))
{
if (!flag5 && pathGrid.WalkableFast(index - x + 1))
{
tmpPathableNeighborIndices.Add(index - x + 1);
}
if (!flag4 && pathGrid.WalkableFast(index - x - 1))
{
tmpPathableNeighborIndices.Add(index - x - 1);
}
}
if (flag3 && !PathFinder.BlocksDiagonalMovement(index + x, map(__instance)))
{
if (!flag5 && pathGrid.WalkableFast(index + x + 1))
{
tmpPathableNeighborIndices.Add(index + x + 1);
}
if (!flag4 && pathGrid.WalkableFast(index + x - 1))
{
tmpPathableNeighborIndices.Add(index + x - 1);
}
}
__result = tmpPathableNeighborIndices;
return(false);
}
private static List <int> PathableNeighborIndices2(RegionCostCalculator __instance, int index)
{
List <int> tmpPathableNeighborIndices = new List <int>(); //Replaces tmpPathableNeighborIndices.Clear();
//tmpPathableNeighborIndices.Clear();
PathGrid pathGrid = map(__instance).pathGrid;
int x = map(__instance).Size.x;
bool num = index % x > 0;
bool flag = index % x < x - 1;
bool flag2 = index >= x;
bool flag3 = index / x < map(__instance).Size.z - 1;
if (flag2 && pathGrid.WalkableFast(index - x))
{
tmpPathableNeighborIndices.Add(index - x);//Replaces tmpPathableNeighborIndices
}
if (flag && pathGrid.WalkableFast(index + 1))
{
tmpPathableNeighborIndices.Add(index + 1);//Replaces tmpPathableNeighborIndices
}
if (num && pathGrid.WalkableFast(index - 1))
{
tmpPathableNeighborIndices.Add(index - 1);//Replaces tmpPathableNeighborIndices
}
if (flag3 && pathGrid.WalkableFast(index + x))
{
tmpPathableNeighborIndices.Add(index + x);//Replaces tmpPathableNeighborIndices
}
bool flag4 = !num || PathFinder.BlocksDiagonalMovement(index - 1, map(__instance));
bool flag5 = !flag || PathFinder.BlocksDiagonalMovement(index + 1, map(__instance));
if (flag2 && !PathFinder.BlocksDiagonalMovement(index - x, map(__instance)))
{
if (!flag5 && pathGrid.WalkableFast(index - x + 1))
{
tmpPathableNeighborIndices.Add(index - x + 1);//Replaces tmpPathableNeighborIndices
}
if (!flag4 && pathGrid.WalkableFast(index - x - 1))
{
tmpPathableNeighborIndices.Add(index - x - 1);//Replaces tmpPathableNeighborIndices
}
}
if (flag3 && !PathFinder.BlocksDiagonalMovement(index + x, map(__instance)))
{
if (!flag5 && pathGrid.WalkableFast(index + x + 1))
{
tmpPathableNeighborIndices.Add(index + x + 1);//Replaces tmpPathableNeighborIndices
}
if (!flag4 && pathGrid.WalkableFast(index + x - 1))
{
tmpPathableNeighborIndices.Add(index + x - 1);//Replaces tmpPathableNeighborIndices
}
}
return(tmpPathableNeighborIndices);//Replaces tmpPathableNeighborIndices
}
