private bool TrySetNewPath()
{
PawnPath pawnPath = this.GenerateNewPath();
if (!pawnPath.Found)
{
this.PatherFailed();
return(false);
}
if (this.curPath != null)
{
this.curPath.ReleaseToPool();
}
this.curPath = pawnPath;
int num = 0;
while (num < 20 && num < this.curPath.NodesLeftCount)
{
IntVec3 c = this.curPath.Peek(num);
if (PawnUtility.ShouldCollideWithPawns(this.pawn) && PawnUtility.AnyPawnBlockingPathAt(c, this.pawn, false, false, false))
{
this.foundPathWhichCollidesWithPawns = Find.TickManager.TicksGame;
}
if (PawnUtility.KnownDangerAt(c, this.pawn.Map, this.pawn))
{
this.foundPathWithDanger = Find.TickManager.TicksGame;
}
if (this.foundPathWhichCollidesWithPawns == Find.TickManager.TicksGame && this.foundPathWithDanger == Find.TickManager.TicksGame)
{
break;
}
num++;
}
return(true);
}
private bool WillCollideWithPawnAt(IntVec3 c)
{
if (!PawnUtility.ShouldCollideWithPawns(this.pawn))
{
return(false);
}
return(PawnUtility.AnyPawnBlockingPathAt(c, this.pawn, false, false));
}
public PawnPath findPath(Map map, IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode, ByteGrid avoidGrid, Area allowedArea,
int costsCardinal, int costsDiagonal)
{
this.map = map;
this.cellIndices = this.map.cellIndices;
this.edificeGrid = map.edificeGrid;
this.traverseParms = traverseParms;
this.dest = dest;
this.peMode = peMode;
this.costPerMoveCardinal = costsCardinal;
this.costPerMoveDiagonal = costsDiagonal;
this.avoidGrid = avoidGrid;
this.allowedArea = allowedArea;
this.pathGridArray = map.pathGrid.pathGrid;
this.pathGrid = map.pathGrid;
this.topGrid = map.terrainGrid.topGrid;
this.pawn = traverseParms.pawn;
this.drafted = pawn != null && pawn.Drafted;
this.blueprintGrid = map.blueprintGrid.InnerArray;
//Only colonists and tamed animals should respect restrictions.
//Drafted pawns move unrestricted.
//Some job types like firefighting should exclude the restrictions.
List <string> exceptions = QOLMod.getSettings().pfRestrictionExcemptions;
if (this.pawn.Faction != null && this.pawn.Faction.IsPlayer && !this.pawn.Drafted && (exceptions == null || pawn.jobs.curJob == null || !exceptions.Contains(pawn.jobs.curJob.def.defName)))
{
this.pathfinderDirections = map.GetComponent <MapComponent_PathfinderDirections>();
}
else
{
this.pathfinderDirections = null;
}
this.drawPath = DebugViewSettings.drawPaths;
this.mapSizeX = map.Size.x;
this.mapSizeZ = map.Size.z;
this.dontPassWater = traverseParms.mode == TraverseMode.NoPassClosedDoorsOrWater || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
this.collidesWithPawns = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
Step step = astar(start);
if (step == null)
{
return(PawnPath.NotFound);
}
PawnPath emptyPawnPath = map.pawnPathPool.GetEmptyPawnPath();
int costs = step.costToReachThis;
while (step != null)
{
emptyPawnPath.AddNode(step.current);
step = step.predecessor;
}
emptyPawnPath.SetupFound((float)costs, false);
return(emptyPawnPath);
}
public static bool TrySetNewPath(ref Pawn_PathFollower instance, ref IntVec3 lastPathedTargetPosition, LocalTargetInfo destination, Pawn pawn, Map map, ref PathEndMode peMode)
{
PawnPath pawnPath = GenerateNewPath(ref lastPathedTargetPosition, destination, ref pawn, map, peMode);
if (!pawnPath.Found)
{
PatherFailedHelper(ref instance, pawn);
return(false);
}
if (!(instance.curPath is null))
{
instance.curPath.ReleaseToPool();
}
instance.curPath = pawnPath;
int num = 0;
int foundPathWhichCollidesWithPawns = Traverse.Create(instance).Field("foundPathWhichCollidesWithPawns").GetValue <int>();
int foundPathWithDanger = Traverse.Create(instance).Field("foundPathWithDanger").GetValue <int>();
while (num < 20 && num < instance.curPath.NodesLeftCount)
{
IntVec3 c = instance.curPath.Peek(num);
if (pawn.GetComp <CompShips>().beached)
{
break;
}
if (PawnUtility.ShouldCollideWithPawns(pawn) && PawnUtility.AnyPawnBlockingPathAt(c, pawn, false, false, false))
{
foundPathWhichCollidesWithPawns = Find.TickManager.TicksGame;
}
if (PawnUtility.KnownDangerAt(c, pawn.Map, pawn))
{
foundPathWithDanger = Find.TickManager.TicksGame;
}
if (foundPathWhichCollidesWithPawns == Find.TickManager.TicksGame && foundPathWithDanger == Find.TickManager.TicksGame)
{
break;
}
num++;
}
return(true);
}
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 PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != this.map)
{
Log.Error("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(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.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(PawnPath.NotFound);
}
this.PfProfilerBeginSample("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;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.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;
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)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 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(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += this.openList.Count;
num6++;
CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
continue;
}
if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
continue;
}
IntVec3 c = this.cellIndices.IndexToCell(num);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
this.DebugFlash(c, (float)((float)this.calcGrid[num].knownCost / 1500.0), this.calcGrid[num].knownCost.ToString());
}
if (flag4)
{
if (num == num2)
{
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num);
this.PfProfilerEndSample();
return(result2);
}
if (num3 <= 160000)
{
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num10 = (uint)(x2 + PathFinder.Directions[i]);
uint num11 = (uint)(z2 + PathFinder.Directions[i + 8]);
int num12;
int num13;
int num14;
bool flag10;
int num15;
if (num10 < this.mapSizeX && num11 < this.mapSizeZ)
{
num12 = (int)num10;
num13 = (int)num11;
num14 = this.cellIndices.CellToIndex(num12, num13);
if (this.calcGrid[num14].status == this.statusClosedValue && !flag9)
{
continue;
}
num15 = 0;
flag10 = false;
if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(this.map).HasTag("Water"))
{
continue;
}
if (!this.pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
}
else
{
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building != null && PathFinder.IsDestroyable(building))
{
num15 += (int)((float)building.HitPoints * 0.10999999940395355);
goto IL_0749;
}
}
continue;
}
goto IL_0749;
}
continue;
IL_092b:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0b0e:
ushort status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num14) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num12 - x);
int dz = Math.Abs(num13 - z);
int num16 = GenMath.OctileDistance(dx, dz, num8, num9);
this.calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)num16 * num7);
}
}
int num17;
int num18 = 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 = num18;
num4++;
this.openList.Push(new CostNode(num14, num18));
continue;
IL_0803:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_09bf:
int num19 = (i <= 3) ? num8 : num9;
num19 += num15;
if (!flag10)
{
num19 += array[num14];
}
if (byteGrid != null)
{
num19 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num19 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num12, 0, num13), pawn, false, false))
{
num19 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
continue;
}
num19 += buildingCost;
this.PfProfilerEndSample();
}
num17 = num19 + this.calcGrid[num].knownCost;
status = this.calcGrid[num14].status;
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
goto IL_0b0e;
}
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num8;
}
if (this.calcGrid[num14].knownCost > num17 + num20)
{
goto IL_0b0e;
}
continue;
IL_0897:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
IL_0749:
switch (i)
{
case 4:
break;
case 5:
goto IL_0803;
case 6:
goto IL_0897;
case 7:
goto IL_092b;
default:
goto IL_09bf;
}
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
continue;
}
num15 += 70;
}
goto IL_09bf;
}
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;
}
continue;
}
break;
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
//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);
}
private static bool setup(IntVec3 s, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode, Map map)
{
sMap = map;
sMapW = map.Size.x;
sMapH = map.Size.z;
if (s.x < 0 || s.y < 0 || s.z < 0 || s.x >= sMapW || s.z >= sMapH)
{
#if DEBUG_LOG_ERROR
Log.Error("Start point is out side of map:" + s);
#endif
return(true);
}
IntVec3 e = dest.Cell;
if (e.x < 0 || e.y < 0 || e.z < 0 || e.x >= sMapW || e.z >= sMapH)
{
#if DEBUG_LOG_ERROR
Log.Error("End point is out side of map:" + e);
#endif
return(true);
}
if (dest.HasThing && dest.Thing.Map != map)
{
#if DEBUG_LOG_ERROR
Log.Error("Tartget thing is not this map:" + dest.Thing.ThingID);
#endif
return(true);
}
int w = (sMapW + NodeSetBitMask) >> NodeSetBitShift;
sMapW4 = w;
int h = (sMapH + NodeSetBitMask) >> NodeSetBitShift;
int wh_size = w * h;
if (sNodeSet == null || sNodeSet.Length < wh_size)
{
sNodeSet = new NodeSet[wh_size];
}
sEndX = dest.Cell.x;
sEndY = dest.Cell.z;
sPathGrid = sMap.pathGrid;
sPathGridArray = sMap.pathGrid.pathGrid;
sEdifice = sMap.edificeGrid.InnerArray;
sTopGrid = sMap.terrainGrid.topGrid;
sBlueprint = sMap.blueprintGrid.InnerArray;
sTraverseParms = traverseParms;
Pawn pawn = traverseParms.pawn;
if (pawn != null)
{
if (!pawn.Spawned || pawn.Map != map)
{
#if DEBUG_LOG_ERROR
Log.Error("Pawn is not spawned or diff map");
#endif
return(true);
}
sCardinal = pawn.TicksPerMoveCardinal;
sDiagonal = pawn.TicksPerMoveDiagonal;
sAvoidGrid = pawn.GetAvoidGrid(true);
sAllowedArea = allowedArea(pawn);
sDrafted = pawn.Drafted;
sShouldCollideWithPawns = PawnUtility.ShouldCollideWithPawns(pawn);
}
else
{
sCardinal = DefaultMoveTicksCardinal;
sDiagonal = DefaultMoveTicksDiagonal;
sAvoidGrid = null;
sAllowedArea = null;
sDrafted = false;
sShouldCollideWithPawns = false;
}
sD2C = sDiagonal - (2 * sCardinal);
sAllowWater =
traverseParms.mode != TraverseMode.NoPassClosedDoorsOrWater &&
traverseParms.mode != TraverseMode.PassAllDestroyableThingsNotWater;
sPassAllDestroyableThings =
traverseParms.mode == TraverseMode.PassAllDestroyableThings ||
traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
setupDestRect(dest, traverseParms, peMode, sMap);
return(false);
}
public static IAttackTarget BestAttackTarget(IAttackTargetSearcher searcher, TargetScanFlags flags, Predicate <Thing> validator = null, float minDist = 0f, float maxDist = 9999f, IntVec3 locus = default(IntVec3), float maxTravelRadiusFromLocus = float.MaxValue, bool canBash = false, bool canTakeTargetsCloserThanEffectiveMinRange = true)
{
Thing searcherThing = searcher.Thing;
Pawn searcherPawn = searcher as Pawn;
Verb verb = searcher.CurrentEffectiveVerb;
if (verb == null)
{
Log.Error("BestAttackTarget with " + searcher.ToStringSafe() + " who has no attack verb.");
return(null);
}
bool onlyTargetMachines = verb.IsEMP();
float minDistSquared = minDist * minDist;
float num = maxTravelRadiusFromLocus + verb.verbProps.range;
float maxLocusDistSquared = num * num;
Func <IntVec3, bool> losValidator = null;
if ((flags & TargetScanFlags.LOSBlockableByGas) != 0)
{
losValidator = delegate(IntVec3 vec3)
{
Gas gas = vec3.GetGas(searcherThing.Map);
return(gas == null || !gas.def.gas.blockTurretTracking);
};
}
Predicate <IAttackTarget> innerValidator = delegate(IAttackTarget t)
{
Thing thing = t.Thing;
if (t == searcher)
{
return(false);
}
if (minDistSquared > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < minDistSquared)
{
return(false);
}
if (!canTakeTargetsCloserThanEffectiveMinRange)
{
float num2 = verb.verbProps.EffectiveMinRange(thing, searcherThing);
if (num2 > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < num2 * num2)
{
return(false);
}
}
if (maxTravelRadiusFromLocus < 9999f && (float)(thing.Position - locus).LengthHorizontalSquared > maxLocusDistSquared)
{
return(false);
}
if (!searcherThing.HostileTo(thing))
{
return(false);
}
if (validator != null && !validator(thing))
{
return(false);
}
if (searcherPawn != null)
{
Lord lord = searcherPawn.GetLord();
if (lord != null && !lord.LordJob.ValidateAttackTarget(searcherPawn, thing))
{
return(false);
}
}
if ((flags & TargetScanFlags.NeedLOSToAll) != 0)
{
if (losValidator != null && (!losValidator(searcherThing.Position) || !losValidator(thing.Position)))
{
return(false);
}
if (!searcherThing.CanSee(thing, losValidator))
{
if (t is Pawn)
{
if ((flags & TargetScanFlags.NeedLOSToPawns) != 0)
{
return(false);
}
}
else if ((flags & TargetScanFlags.NeedLOSToNonPawns) != 0)
{
return(false);
}
}
}
if (((flags & TargetScanFlags.NeedThreat) != 0 || (flags & TargetScanFlags.NeedAutoTargetable) != 0) && t.ThreatDisabled(searcher))
{
return(false);
}
if ((flags & TargetScanFlags.NeedAutoTargetable) != 0 && !IsAutoTargetable(t))
{
return(false);
}
if ((flags & TargetScanFlags.NeedActiveThreat) != 0 && !GenHostility.IsActiveThreatTo(t, searcher.Thing.Faction))
{
return(false);
}
Pawn pawn = t as Pawn;
if (onlyTargetMachines && pawn != null && pawn.RaceProps.IsFlesh)
{
return(false);
}
if ((flags & TargetScanFlags.NeedNonBurning) != 0 && thing.IsBurning())
{
return(false);
}
if (searcherThing.def.race != null && (int)searcherThing.def.race.intelligence >= 2)
{
CompExplosive compExplosive = thing.TryGetComp <CompExplosive>();
if (compExplosive != null && compExplosive.wickStarted)
{
return(false);
}
}
if (thing.def.size.x == 1 && thing.def.size.z == 1)
{
if (thing.Position.Fogged(thing.Map))
{
return(false);
}
}
else
{
bool flag2 = false;
foreach (IntVec3 item in thing.OccupiedRect())
{
if (!item.Fogged(thing.Map))
{
flag2 = true;
break;
}
}
if (!flag2)
{
return(false);
}
}
return(true);
};
if (HasRangedAttack(searcher) && (searcherPawn == null || !searcherPawn.InAggroMentalState))
{
tmpTargets.Clear();
tmpTargets.AddRange(searcherThing.Map.attackTargetsCache.GetPotentialTargetsFor(searcher));
if ((flags & TargetScanFlags.NeedReachable) != 0)
{
Predicate <IAttackTarget> oldValidator2 = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator2(t) && CanReach(searcherThing, t.Thing, canBash));
}
bool flag = false;
for (int i = 0; i < tmpTargets.Count; i++)
{
IAttackTarget attackTarget = tmpTargets[i];
if (attackTarget.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) && innerValidator(attackTarget) && CanShootAtFromCurrentPosition(attackTarget, searcher, verb))
{
flag = true;
break;
}
}
IAttackTarget result;
if (flag)
{
tmpTargets.RemoveAll((IAttackTarget x) => !x.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) || !innerValidator(x));
result = GetRandomShootingTargetByScore(tmpTargets, searcher, verb);
}
else
{
result = (IAttackTarget)GenClosest.ClosestThing_Global(validator: ((flags & TargetScanFlags.NeedReachableIfCantHitFromMyPos) == 0 || (flags & TargetScanFlags.NeedReachable) != 0) ? ((Predicate <Thing>)((Thing t) => innerValidator((IAttackTarget)t))) : ((Predicate <Thing>)((Thing t) => innerValidator((IAttackTarget)t) && (CanReach(searcherThing, t, canBash) || CanShootAtFromCurrentPosition((IAttackTarget)t, searcher, verb)))), center: searcherThing.Position, searchSet: tmpTargets, maxDistance: maxDist);
}
tmpTargets.Clear();
return(result);
}
if (searcherPawn != null && searcherPawn.mindState.duty != null && searcherPawn.mindState.duty.radius > 0f && !searcherPawn.InMentalState)
{
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = delegate(IAttackTarget t)
{
if (!oldValidator(t))
{
return(false);
}
return(t.Thing.Position.InHorDistOf(searcherPawn.mindState.duty.focus.Cell, searcherPawn.mindState.duty.radius) ? true : false);
};
}
IAttackTarget attackTarget2 = (IAttackTarget)GenClosest.ClosestThingReachable(searcherThing.Position, searcherThing.Map, ThingRequest.ForGroup(ThingRequestGroup.AttackTarget), PathEndMode.Touch, TraverseParms.For(searcherPawn, Danger.Deadly, TraverseMode.ByPawn, canBash), maxDist, (Thing x) => innerValidator((IAttackTarget)x), null, 0, (maxDist > 800f) ? (-1) : 40);
if (attackTarget2 != null && PawnUtility.ShouldCollideWithPawns(searcherPawn))
{
IAttackTarget attackTarget3 = FindBestReachableMeleeTarget(innerValidator, searcherPawn, maxDist, canBash);
if (attackTarget3 != null)
{
float lengthHorizontal = (searcherPawn.Position - attackTarget2.Thing.Position).LengthHorizontal;
float lengthHorizontal2 = (searcherPawn.Position - attackTarget3.Thing.Position).LengthHorizontal;
if (Mathf.Abs(lengthHorizontal - lengthHorizontal2) < 50f)
{
attackTarget2 = attackTarget3;
}
}
}
return(attackTarget2);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
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 PathFinder should have been used, not this one. pawn=",
pawn,
" pawn.Map=",
pawn.Map,
" map=",
this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid start ",
start,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.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(PawnPath.NotFound);
}
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;
this.blueprintGrid = this.map.blueprintGrid.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 || traverseParms.mode == TraverseMode.PassAllDestroyableThingsNotWater;
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;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
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 && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn != null && pawn.Drafted;
bool flag11 = pawn != null && pawn.IsColonist;
int num5 = (!flag11) ? 2000 : 100000;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9;
int num10;
if (pawn != null)
{
num9 = pawn.TicksPerMoveCardinal;
num10 = pawn.TicksPerMoveDiagonal;
}
else
{
num9 = 13;
num10 = 18;
}
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
PathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
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_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > 160000)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + PathFinder.Directions[i]);
uint num12 = (uint)(z2 + PathFinder.Directions[i + 8]);
if ((ulong)num11 < (ulong)((long)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
bool flag12 = false;
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.pathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_D53;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building == null)
{
goto IL_D53;
}
if (!PathFinder.IsDestroyable(building))
{
goto IL_D53;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
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_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 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_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 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_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 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_D53;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_D53;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
if (!flag12)
{
num17 += array[num15];
if (flag10)
{
num17 += topGrid[num15].extraDraftedPerceivedPathCost;
}
else
{
num17 += topGrid[num15].extraNonDraftedPerceivedPathCost;
}
}
if (byteGrid != null)
{
num17 += (int)(byteGrid[num15] * 8);
}
if (allowedArea != null && !allowedArea[num15])
{
num17 += 600;
}
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += 175;
}
Building building2 = this.edificeGrid[num15];
if (building2 != null)
{
this.PfProfilerBeginSample("Edifices");
int buildingCost = PathFinder.GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += buildingCost;
this.PfProfilerEndSample();
}
List <Blueprint> list = this.blueprintGrid[num15];
if (list != null)
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
for (int j = 0; j < list.Count; j++)
{
num18 = Mathf.Max(num18, PathFinder.GetBlueprintCost(list[j], pawn));
}
if (num18 == 2147483647)
{
this.PfProfilerEndSample();
goto IL_D53;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_D53;
}
}
if (status != this.statusClosedValue && status != this.statusOpenValue)
{
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
}
else
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new PathFinder.CostNode(num15, num22));
}
}
}
IL_D53 :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10, 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
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
pawn,
" pathing from ",
start,
" to ",
dest,
" hit search limit of ",
160000,
" cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
public static IAttackTarget BestAttackTarget(IAttackTargetSearcher searcher, TargetScanFlags flags, Predicate <Thing> validator = null, float minDist = 0f, float maxDist = 9999f, IntVec3 locus = default(IntVec3), float maxTravelRadiusFromLocus = 3.40282347E+38f, bool canBash = false, bool canTakeTargetsCloserThanEffectiveMinRange = true)
{
Log.Message("Using VEF_AttackTargetFinder");
Thing searcherThing = searcher.Thing;
Pawn searcherPawn = searcher as Pawn;
Verb verb = searcher.CurrentEffectiveVerb;
Log.Message("searcher is " + searcherPawn.Label);
Log.Message("Attack Verb is " + verb.ToString());
if (verb == null)
{
Log.Error("BestAttackTarget with " + searcher.ToStringSafe <IAttackTargetSearcher>() + " who has no attack verb.", false);
return(null);
}
bool onlyTargetMachines = verb.IsEMP();
float minDistSquared = minDist * minDist;
float num = maxTravelRadiusFromLocus + verb.verbProps.range;
float maxLocusDistSquared = num * num;
Func <IntVec3, bool> losValidator = null;
if ((byte)(flags & TargetScanFlags.LOSBlockableByGas) != 0)
{
losValidator = delegate(IntVec3 vec3)
{
Gas gas = vec3.GetGas(searcherThing.Map);
return(gas == null || !gas.def.gas.blockTurretTracking);
};
}
Predicate <IAttackTarget> innerValidator = delegate(IAttackTarget t)
{
Log.Message("Beginning of innerValidator - Validating for " + t.Thing.Label);
Thing thing = t.Thing;
if (t == searcher)
{
Log.Message("IAttackTarget is Searcher - Invalid target");
return(false);
}
if (minDistSquared > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < minDistSquared)
{
Log.Message("Verb has minDistance and IAttackTarget is within minimum distance - Invalid target");
return(false);
}
if (!canTakeTargetsCloserThanEffectiveMinRange)
{
Log.Message("Searcher cannot attack targets closer that verb.verbProps.EffectiveMinRange");
float num2 = verb.verbProps.EffectiveMinRange(thing, searcherThing);
if (num2 > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < num2 * num2)
{
Log.Message("Distance between Searcher and IAttackTarget is greater than 0, but less than verb.verbProps.EffectiveMinimumRange - Invalid target");
return(false);
}
}
if (maxTravelRadiusFromLocus < 9999f && (float)(thing.Position - locus).LengthHorizontalSquared > maxLocusDistSquared)
{
Log.Message("Seacrher has limited permissable movement and IAttackTarget is outside of that distance - Invalid target");
return(false);
}
if (!searcherThing.HostileTo(thing))
{
Log.Message("Searcher is not hostile towards IAttackTarget - Invalid target");
return(false);
}
if (validator != null && !validator(thing))
{
Log.Message("Searcher has validator and validator failed. Validator checked for " + validator.GetType().ToString());
return(false);
}
if (searcherPawn != null)
{
Log.Message("Searcher is Pawn - Get Lord");
Lord lord = searcherPawn.GetLord();
if (lord != null && !lord.LordJob.ValidateAttackTarget(searcherPawn, thing))
{
Log.Message("Lord is in incorrect state - Return false");
return(false);
}
}
if ((byte)(flags & TargetScanFlags.NeedLOSToAll) != 0 && !searcherThing.CanSee(thing, losValidator))
{
Log.Message("Searher needs LOS to some or all targets, but cannot see target.");
if (t is Pawn)
{
Log.Message("IAttackTarget is Pawn");
if ((byte)(flags & TargetScanFlags.NeedLOSToPawns) != 0)
{
Log.Message("Searcher needs LOS to Pawn - Invalid target");
return(false);
}
}
else if ((byte)(flags & TargetScanFlags.NeedLOSToNonPawns) != 0)
{
Log.Message("IAttackTarget is nonPawn");
Log.Message("Searcher needs LOS to NonPawns - Invalid target");
return(false);
}
}
if ((byte)(flags & TargetScanFlags.NeedThreat) != 0 && t.ThreatDisabled(searcher))
{
Log.Message("Searcher needs Threat, IAttackTarget is not threat - Invalid target");
return(false);
}
Pawn pawn = t as Pawn;
if (onlyTargetMachines && pawn != null && pawn.RaceProps.IsFlesh)
{
Log.Message("Verb is EMP and target is flesh - Invalid target");
return(false);
}
if ((byte)(flags & TargetScanFlags.NeedNonBurning) != 0 && thing.IsBurning())
{
Log.Message("Verb is incendiary and target is already burning - Invalid target");
return(false);
}
if (searcherThing.def.race != null && searcherThing.def.race.intelligence >= Intelligence.Humanlike)
{
Log.Message("Searcher is ToolUser - Validating use of Explosives");
CompExplosive compExplosive = thing.TryGetComp <CompExplosive>();
if (compExplosive != null && compExplosive.wickStarted)
{
Log.Message("Explosive is already lit - Invalid verb");
return(false);
}
}
if (thing.def.size.x == 1 && thing.def.size.z == 1)
{
if (thing.Position.Fogged(thing.Map))
{
Log.Message("IAttackTarget is in Fog - Invalid target");
return(false);
}
}
else
{
bool flag2 = false;
CellRect.CellRectIterator iterator = thing.OccupiedRect().GetIterator();
while (!iterator.Done())
{
if (!iterator.Current.Fogged(thing.Map))
{
Log.Message("IAttackTarget is not in Fog - return true");
flag2 = true;
break;
}
iterator.MoveNext();
}
if (!flag2)
{
return(false);
}
}
Log.Message("IAttackTarget is valid target");
return(true);
};
if (HasRangedAttack(searcher))
{
Log.Message(searcher.Thing.Label + " has ranged verb.");
tmpTargets.Clear();
tmpTargets.AddRange(searcherThing.Map.attackTargetsCache.GetPotentialTargetsFor(searcher));
Log.Message("initializing tmpTargets");
if ((byte)(flags & TargetScanFlags.NeedReachable) != 0)
{
Log.Message("TargetScanFlags.NeedReachable");
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator(t) && CanReach(searcherThing, t.Thing, canBash));
}
bool flag = false;
if (tmpTargets.Count == 0)
{
Log.Message("There are no tmpTargets - return null");
return(null);
}
else
{
Log.Message("There are " + tmpTargets.Count + " tmpTargets");
}
for (int i = 0; i < tmpTargets.Count; i++)
{
Log.Message("Iterating tmpTargets to check for targets that can be hit from current location. Iteration " + i);
IAttackTarget attackTarget = tmpTargets[i];
if (attackTarget.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) && innerValidator(attackTarget) && CanShootAtFromCurrentPosition(attackTarget, searcher, verb))
{
Log.Message("tempTarget " + i + " can be hit from current position.");
flag = true;
break;
}
Log.Message("tempTarget " + i + " cannot be hit from current position.");
}
IAttackTarget result = null;
if (flag)
{
Log.Message("A target can be shot from current position. Clearing tempTargets outside of range and picking one.");
tmpTargets.RemoveAll((IAttackTarget x) => !x.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) || !innerValidator(x));
result = GetRandomShootingTargetByScore(tmpTargets, searcher, verb);
Log.Message("Target that can be shot from present location is: " + result.Thing.ToString());
}
else
{
Log.Message("No target can be hit from current position. Refining validator...");
Predicate <Thing> validator2;
if ((byte)(flags & TargetScanFlags.NeedReachableIfCantHitFromMyPos) != 0 && (byte)(flags & TargetScanFlags.NeedReachable) == 0)
{
Log.Message("Using validator2 where (byte)TargetScanFalgs flags are not 0");
validator2 = ((Thing t) => innerValidator((IAttackTarget)t) && (CanReach(searcherThing, t, canBash) || CanShootAtFromCurrentPosition((IAttackTarget)t, searcher, verb)));
}
else
{
Log.Message("Using validator2 where (byte)TargetScanFlags flags are 0");
validator2 = ((Thing t) => innerValidator((IAttackTarget)t));
}
Log.Message("--- MARKER ---");
result = (IAttackTarget)GenClosest.ClosestThing_Global(searcherThing.Position, tmpTargets, maxDist, validator2, null);
if (result == null)
{
Log.Message("Taregt selection complete. Clearing tmpTargets. There is no valid target");
}
else
{
Log.Message("Taregt selection complete. Clearing tmpTargets. Final target is: " + result.Thing.ToString());
}
}
tmpTargets.Clear();
return(result);
}
if (searcherPawn != null && searcherPawn.mindState.duty != null && searcherPawn.mindState.duty.radius > 0f && !searcherPawn.InMentalState)
{
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator(t) && t.Thing.Position.InHorDistOf(searcherPawn.mindState.duty.focus.Cell, searcherPawn.mindState.duty.radius));
}
IntVec3 position = searcherThing.Position;
Map map = searcherThing.Map;
ThingRequest thingReq = ThingRequest.ForGroup(ThingRequestGroup.AttackTarget);
PathEndMode peMode = PathEndMode.Touch;
Pawn searcherPawn2 = searcherPawn;
Danger maxDanger = Danger.Deadly;
bool canBash2 = canBash;
TraverseParms traverseParams = TraverseParms.For(searcherPawn2, maxDanger, TraverseMode.ByPawn, canBash2);
float maxDist2 = maxDist;
Predicate <Thing> validator3 = (Thing x) => innerValidator((IAttackTarget)x);
int searchRegionsMax = (maxDist <= 800f) ? 40 : -1;
IAttackTarget attackTarget2 = (IAttackTarget)GenClosest.ClosestThingReachable(position, map, thingReq, peMode, traverseParams, maxDist2, validator3, null, 0, searchRegionsMax, false, RegionType.Set_Passable, false);
if (attackTarget2 != null && PawnUtility.ShouldCollideWithPawns(searcherPawn))
{
IAttackTarget attackTarget3 = FindBestReachableMeleeTarget(innerValidator, searcherPawn, maxDist, canBash);
if (attackTarget3 != null)
{
float lengthHorizontal = (searcherPawn.Position - attackTarget2.Thing.Position).LengthHorizontal;
float lengthHorizontal2 = (searcherPawn.Position - attackTarget3.Thing.Position).LengthHorizontal;
if (Mathf.Abs(lengthHorizontal - lengthHorizontal2) < 50f)
{
attackTarget2 = attackTarget3;
}
}
}
return(attackTarget2);
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Warning(String.Format("Map object was rebuilt, but new pather was not assigned to new map (new {0}) (old {1})", pawn.Map.uniqueID, map.uniqueID));
Log.Error("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=" + map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + (dest.HasThing ? (" at " + dest.Cell) : ""));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
int x = dest.Cell.x;
int z = dest.Cell.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.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 cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = (!flag && start.GetRegion(map) != 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);
// BEGIN CHANGED SECTION
// In case pawn is null
int num8 = 13;
int num9 = 18;
Dictionary <TerrainDef, int> pawnTerrainCacheCardinal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, int> pawnTerrainCacheDiagonal = new Dictionary <TerrainDef, int>();
Dictionary <TerrainDef, bool> pawnSpecialMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, bool> pawnImpassibleMovementCache = new Dictionary <TerrainDef, bool>();
Dictionary <TerrainDef, int> pawnTerrainMovementCache = new Dictionary <TerrainDef, int>();
// END CHANGED SECTION
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
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(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
continue;
}
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
continue;
}
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag8);
PfProfilerEndSample();
return(result2);
}
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 >= mapSizeX || num11 >= mapSizeZ)
{
continue;
}
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status == statusClosedValue && !flag8)
{
continue;
}
// BEGIN CHANGED SECTION
IntVec3 targetCell = new IntVec3(num12, 0, num13);
TerrainDef targetTerrain = topGrid[num14];
if (pawn != null)
{
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnImpassibleMovementCache.TryGetValue(targetTerrain, out bool impassible))
{
impassible = pawn.kindDef.UnreachableTerrainCheck(targetTerrain);
pawnImpassibleMovementCache[targetTerrain] = impassible;
}
if (impassible)
{
// Skip this cell for pathing calculations
calcGrid[num14].status = statusClosedValue;
continue;
}
// Overwrite directional move costs
if (!pawnTerrainCacheCardinal.TryGetValue(targetTerrain, out num8))
{
num8 = pawn.TerrainAwareTicksPerMoveCardinal(targetTerrain);
pawnTerrainCacheCardinal[targetTerrain] = num8;
}
if (!pawnTerrainCacheDiagonal.TryGetValue(targetTerrain, out num9))
{
num9 = pawn.TerrainAwareTicksPerMoveDiagonal(targetTerrain);
pawnTerrainCacheDiagonal[targetTerrain] = num9;
}
}
// END CHANGED SECTION
int num15 = 0;
bool flag10 = false;
//if (!flag2 && new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
if (!flag2 && targetTerrain.HasTag("Water"))
{
continue;
}
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
continue;
}
flag10 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag7)
{
continue;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag7)
{
continue;
}
num15 += 70;
}
break;
}
int num16 = (i > 3) ? num9 : num8;
num16 += num15;
if (!flag10)
{
// BEGIN CHANGED SECTION
//num16 += array[num14];
//num16 = ((!flag9) ? (num16 + topGrid[num14].extraNonDraftedPerceivedPathCost) : (num16 + topGrid[num14].extraDraftedPerceivedPathCost));
if (pawn == null)
{
num16 += array[num14];
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
else
{
// Use cache of terrain perceived cost instead of fixed pathCost grid to avoid a lot of repeated computation while maintaining accuracy
if (!pawnTerrainMovementCache.TryGetValue(targetTerrain, out int terrainMoveCost))
{
terrainMoveCost = pawn.TerrainMoveCost(targetTerrain);
pawnTerrainMovementCache[targetTerrain] = terrainMoveCost;
}
// This was really really expensive, so we opted to mod this pre-calced value
//num16 += pathGrid.TerrainCalculatedCostAt(map, pawn, targetCell, true, IntVec3.Invalid, terrainMoveCost);
num16 += pathGrid.ApplyTerrainModToCalculatedCost(targetTerrain, array[num14], terrainMoveCost);
// Use cache of terrain movement indicators to avoid a lot of repeated computation
if (!pawnSpecialMovementCache.TryGetValue(targetTerrain, out bool specialMovement))
{
specialMovement = pawn.TerrainMoveStat(targetTerrain) != StatDefOf.MoveSpeed;
pawnSpecialMovementCache[targetTerrain] = specialMovement;
}
// Skip applying the PerceivedPathCost hack if we've got a specialized speed stat for this terrain
if (!specialMovement)
{
if (flag9)
{
num16 += targetTerrain.extraDraftedPerceivedPathCost;
}
else
{
num16 += targetTerrain.extraNonDraftedPerceivedPathCost;
}
}
}
// END CHANGED SECTION
}
if (byteGrid != null)
{
num16 += byteGrid[num14] * 8;
}
if (allowedArea != null && !allowedArea[num14])
{
num16 += 600;
}
//new IntVec3(num12, 0, num13) -> targetCell
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(targetCell, pawn, actAsIfHadCollideWithPawnsJob: false, collideOnlyWithStandingPawns: false, forPathFinder: true))
{
num16 += 175;
}
Building building2 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == int.MaxValue)
{
PfProfilerEndSample();
continue;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, 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("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("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 CostNode(num14, num21));
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag6 && !flag8)
{
flag8 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag9, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
DebugDrawRichData();
PfProfilerEndSample();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
public override bool Applies()
{
return(pawn != null && PawnUtility.ShouldCollideWithPawns(pawn));
}
public PawnPath FindPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (pawn != null && pawn.Map != map)
{
Log.Error("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=" + map);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error("Tried to FindPath with invalid start " + start + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error("Tried to FindPath with invalid dest " + dest + ", pawn= " + pawn);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!pawn.CanReach(dest, peMode, Danger.Deadly, traverseParms.canBash, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!map.reachability.CanReach(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample("FindPath for " + pawn + " from " + start + " to " + dest + ((!dest.HasThing) ? string.Empty : (" at " + dest.Cell)));
cellIndices = map.cellIndices;
pathGrid = map.pathGrid;
this.edificeGrid = map.edificeGrid.InnerArray;
blueprintGrid = map.blueprintGrid.InnerArray;
IntVec3 cell = dest.Cell;
int x = cell.x;
IntVec3 cell2 = dest.Cell;
int z = cell2.z;
int curIndex = cellIndices.CellToIndex(start);
int num = cellIndices.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 cellRect = CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = map.pathGrid.pathGrid;
TerrainDef[] topGrid = map.terrainGrid.topGrid;
EdificeGrid edificeGrid = map.edificeGrid;
int num2 = 0;
int num3 = 0;
Area allowedArea = GetAllowedArea(pawn);
bool flag5 = pawn != null && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && start.GetRegion(map) != null && flag2;
bool flag8 = !flag || !flag3;
bool flag9 = false;
bool flag10 = pawn?.Drafted ?? false;
int num4 = (!(pawn?.IsColonist ?? false)) ? 2000 : 100000;
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;
}
CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
InitStatusesAndPushStartNode(ref curIndex, start);
while (true)
{
PfProfilerBeginSample("Open cell");
if (openList.Count <= 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(pawn + " pathing from " + start + " to " + dest + " ran out of cells to process.\nJob:" + text + "\nFaction: " + text2);
DebugDrawRichData();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
num5 += openList.Count;
num6++;
CostNode costNode = openList.Pop();
curIndex = costNode.index;
if (costNode.cost != calcGrid[curIndex].costNodeCost)
{
PfProfilerEndSample();
}
else if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
}
else
{
IntVec3 c = cellIndices.IndexToCell(curIndex);
int x2 = c.x;
int z2 = c.z;
if (flag6)
{
DebugFlash(c, (float)calcGrid[curIndex].knownCost / 1500f, calcGrid[curIndex].knownCost.ToString());
}
if (flag4)
{
if (curIndex == num)
{
PfProfilerEndSample();
PawnPath result = FinalizedPath(curIndex, flag9);
PfProfilerEndSample();
return(result);
}
}
else if (cellRect.Contains(c) && !disallowedCornerIndices.Contains(curIndex))
{
PfProfilerEndSample();
PawnPath result2 = FinalizedPath(curIndex, flag9);
PfProfilerEndSample();
return(result2);
}
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 < mapSizeX && num11 < mapSizeZ)
{
int num12 = (int)num10;
int num13 = (int)num11;
int num14 = cellIndices.CellToIndex(num12, num13);
if (calcGrid[num14].status != statusClosedValue || flag9)
{
int num15 = 0;
bool flag11 = false;
if (flag2 || !new IntVec3(num12, 0, num13).GetTerrain(map).HasTag("Water"))
{
if (!pathGrid.WalkableFast(num14))
{
if (!flag)
{
if (flag6)
{
DebugFlash(new IntVec3(num12, 0, num13), 0.22f, "walk");
}
continue;
}
flag11 = true;
num15 += 70;
Building building = edificeGrid[num14];
if (building == null || !IsDestroyable(building))
{
continue;
}
num15 += (int)((float)building.HitPoints * 0.2f);
}
switch (i)
{
case 4:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 5:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex + 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 6:
if (BlocksDiagonalMovement(curIndex + mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
case 7:
if (BlocksDiagonalMovement(curIndex - mapSizeX))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "corn");
}
break;
}
num15 += 70;
}
if (BlocksDiagonalMovement(curIndex - 1))
{
if (flag8)
{
if (flag6)
{
DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
break;
}
num15 += 70;
}
goto default;
default:
{
int num16 = (i <= 3) ? num8 : num9;
num16 += num15;
if (!flag11)
{
num16 += array[num14];
num16 = ((!flag10) ? (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 = this.edificeGrid[num14];
if (building2 != null)
{
PfProfilerBeginSample("Edifices");
int buildingCost = GetBuildingCost(building2, traverseParms, pawn);
if (buildingCost == 2147483647)
{
PfProfilerEndSample();
break;
}
num16 += buildingCost;
PfProfilerEndSample();
}
List <Blueprint> list = blueprintGrid[num14];
if (list != null)
{
PfProfilerBeginSample("Blueprints");
int num17 = 0;
for (int j = 0; j < list.Count; j++)
{
num17 = Mathf.Max(num17, GetBlueprintCost(list[j], pawn));
}
if (num17 == 2147483647)
{
PfProfilerEndSample();
break;
}
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)
{
break;
}
}
if (flag9)
{
calcGrid[num14].heuristicCost = Mathf.RoundToInt((float)regionCostCalculator.GetPathCostFromDestToRegion(num14) * RegionHeuristicWeightByNodesOpened.Evaluate((float)num3));
if (calcGrid[num14].heuristicCost < 0)
{
Log.ErrorOnce("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("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 CostNode(num14, num21));
break;
}
}
}
}
}
}
PfProfilerEndSample();
num2++;
calcGrid[curIndex].status = statusClosedValue;
if (num3 >= num4 && flag7 && !flag9)
{
flag9 = true;
regionCostCalculator.Init(cellRect, traverseParms, num8, num9, byteGrid, allowedArea, flag10, disallowedCornerIndices);
InitStatusesAndPushStartNode(ref curIndex, start);
num3 = 0;
num2 = 0;
}
}
}
Log.Warning(pawn + " pathing from " + start + " to " + dest + " hit search limit of " + 160000 + " cells.");
DebugDrawRichData();
PfProfilerEndSample();
return(PawnPath.NotFound);
}
public static IAttackTarget BestAttackTarget(IAttackTargetSearcher searcher, TargetScanFlags flags, Predicate <Thing> validator = null, float minDist = 0f, float maxDist = 9999f, IntVec3 locus = default(IntVec3), float maxTravelRadiusFromLocus = 3.40282347E+38f, bool canBash = false)
{
Thing searcherThing = searcher.Thing;
Pawn searcherPawn = searcher as Pawn;
Verb verb = searcher.CurrentEffectiveVerb;
if (verb == null)
{
Log.Error("BestAttackTarget with " + searcher + " who has no attack verb.");
return(null);
}
bool onlyTargetMachines = verb != null && verb.IsEMP();
float minDistanceSquared = minDist * minDist;
float num = maxTravelRadiusFromLocus + verb.verbProps.range;
float maxLocusDistSquared = num * num;
Func <IntVec3, bool> losValidator = null;
if ((flags & TargetScanFlags.LOSBlockableByGas) != 0)
{
losValidator = delegate(IntVec3 vec3)
{
Gas gas = vec3.GetGas(searcherThing.Map);
return(gas == null || !gas.def.gas.blockTurretTracking);
};
}
Predicate <IAttackTarget> innerValidator = delegate(IAttackTarget t)
{
Thing thing = t.Thing;
if (t == searcher)
{
return(false);
}
if (minDistanceSquared > 0.0 && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < minDistanceSquared)
{
return(false);
}
if (maxTravelRadiusFromLocus < 9999.0 && (float)(thing.Position - locus).LengthHorizontalSquared > maxLocusDistSquared)
{
return(false);
}
if (!searcherThing.HostileTo(thing))
{
return(false);
}
if (validator != null && !validator(thing))
{
return(false);
}
if ((flags & TargetScanFlags.NeedLOSToAll) != 0 && !searcherThing.CanSee(thing, losValidator))
{
if (t is Pawn)
{
if ((flags & TargetScanFlags.NeedLOSToPawns) != 0)
{
return(false);
}
}
else if ((flags & TargetScanFlags.NeedLOSToNonPawns) != 0)
{
return(false);
}
}
if ((flags & TargetScanFlags.NeedThreat) != 0 && t.ThreatDisabled())
{
return(false);
}
Pawn pawn2 = t as Pawn;
if (onlyTargetMachines && pawn2 != null && pawn2.RaceProps.IsFlesh)
{
return(false);
}
if ((flags & TargetScanFlags.NeedNonBurning) != 0 && thing.IsBurning())
{
return(false);
}
if (searcherThing.def.race != null && (int)searcherThing.def.race.intelligence >= 2)
{
CompExplosive compExplosive = thing.TryGetComp <CompExplosive>();
if (compExplosive != null && compExplosive.wickStarted)
{
return(false);
}
}
if (thing.def.size.x == 1 && thing.def.size.z == 1)
{
if (thing.Position.Fogged(thing.Map))
{
return(false);
}
}
else
{
bool flag2 = false;
CellRect.CellRectIterator iterator = thing.OccupiedRect().GetIterator();
while (!iterator.Done())
{
if (iterator.Current.Fogged(thing.Map))
{
iterator.MoveNext();
continue;
}
flag2 = true;
break;
}
if (!flag2)
{
return(false);
}
}
return(true);
};
if (AttackTargetFinder.HasRangedAttack(searcher))
{
AttackTargetFinder.tmpTargets.Clear();
AttackTargetFinder.tmpTargets.AddRange(searcherThing.Map.attackTargetsCache.GetPotentialTargetsFor(searcher));
if ((flags & TargetScanFlags.NeedReachable) != 0)
{
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator(t) && AttackTargetFinder.CanReach(searcherThing, t.Thing, canBash));
}
bool flag = false;
if (searcherThing.Faction != Faction.OfPlayer)
{
for (int i = 0; i < AttackTargetFinder.tmpTargets.Count; i++)
{
IAttackTarget attackTarget = AttackTargetFinder.tmpTargets[i];
if (attackTarget.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) && innerValidator(attackTarget) && AttackTargetFinder.CanShootAtFromCurrentPosition(attackTarget, searcher, verb))
{
flag = true;
break;
}
}
}
IAttackTarget result;
if (flag)
{
AttackTargetFinder.tmpTargets.RemoveAll((IAttackTarget x) => !x.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) || !innerValidator(x));
result = AttackTargetFinder.GetRandomShootingTargetByScore(AttackTargetFinder.tmpTargets, searcher, verb);
}
else
{
Predicate <Thing> validator2 = ((flags & TargetScanFlags.NeedReachableIfCantHitFromMyPos) == TargetScanFlags.None || (flags & TargetScanFlags.NeedReachable) != 0) ? ((Predicate <Thing>)((Thing t) => innerValidator((IAttackTarget)t))) : ((Predicate <Thing>)((Thing t) => innerValidator((IAttackTarget)t) && (AttackTargetFinder.CanReach(searcherThing, t, canBash) || AttackTargetFinder.CanShootAtFromCurrentPosition((IAttackTarget)t, searcher, verb))));
result = (IAttackTarget)GenClosest.ClosestThing_Global(searcherThing.Position, AttackTargetFinder.tmpTargets, maxDist, validator2, null);
}
AttackTargetFinder.tmpTargets.Clear();
return(result);
}
if (searcherPawn != null && searcherPawn.mindState.duty != null && searcherPawn.mindState.duty.radius > 0.0 && !searcherPawn.InMentalState)
{
Predicate <IAttackTarget> oldValidator2 = innerValidator;
innerValidator = delegate(IAttackTarget t)
{
if (!oldValidator2(t))
{
return(false);
}
if (!t.Thing.Position.InHorDistOf(searcherPawn.mindState.duty.focus.Cell, searcherPawn.mindState.duty.radius))
{
return(false);
}
return(true);
};
}
IntVec3 root = searcherThing.Position;
Map map = searcherThing.Map;
ThingRequest thingReq = ThingRequest.ForGroup(ThingRequestGroup.AttackTarget);
PathEndMode peMode = PathEndMode.Touch;
Pawn pawn = searcherPawn;
Danger maxDanger = Danger.Deadly;
bool canBash2 = canBash;
TraverseParms traverseParams = TraverseParms.For(pawn, maxDanger, TraverseMode.ByPawn, canBash2);
float maxDistance = maxDist;
Predicate <Thing> validator3 = (Thing x) => innerValidator((IAttackTarget)x);
int searchRegionsMax = (!(maxDist > 800.0)) ? 40 : (-1);
IAttackTarget attackTarget2 = (IAttackTarget)GenClosest.ClosestThingReachable(root, map, thingReq, peMode, traverseParams, maxDistance, validator3, null, 0, searchRegionsMax, false, RegionType.Set_Passable, false);
if (attackTarget2 != null && PawnUtility.ShouldCollideWithPawns(searcherPawn))
{
IAttackTarget attackTarget3 = AttackTargetFinder.FindBestReachableMeleeTarget(innerValidator, searcherPawn, maxDist, canBash);
if (attackTarget3 != null)
{
root = searcherPawn.Position - attackTarget2.Thing.Position;
float lengthHorizontal = root.LengthHorizontal;
float lengthHorizontal2 = (searcherPawn.Position - attackTarget3.Thing.Position).LengthHorizontal;
if (Mathf.Abs(lengthHorizontal - lengthHorizontal2) < 50.0)
{
attackTarget2 = attackTarget3;
}
}
}
return(attackTarget2);
}
private bool NeedNewPath()
{
if (!this.destination.IsValid || this.curPath == null || !this.curPath.Found || this.curPath.NodesLeftCount == 0)
{
return(true);
}
if (this.destination.HasThing && this.destination.Thing.Map != this.pawn.Map)
{
return(true);
}
if ((this.pawn.Position.InHorDistOf(this.curPath.LastNode, 15f) || this.pawn.Position.InHorDistOf(this.destination.Cell, 15f)) && !ReachabilityImmediate.CanReachImmediate(this.curPath.LastNode, this.destination, this.pawn.Map, this.peMode, this.pawn))
{
return(true);
}
if (this.curPath.UsedRegionHeuristics && this.curPath.NodesConsumedCount >= 75)
{
return(true);
}
if (this.lastPathedTargetPosition != this.destination.Cell)
{
float num = (float)(this.pawn.Position - this.destination.Cell).LengthHorizontalSquared;
float num2;
if (num > 900f)
{
num2 = 10f;
}
else if (num > 289f)
{
num2 = 5f;
}
else if (num > 100f)
{
num2 = 3f;
}
else if (num > 49f)
{
num2 = 2f;
}
else
{
num2 = 0.5f;
}
if ((float)(this.lastPathedTargetPosition - this.destination.Cell).LengthHorizontalSquared > num2 * num2)
{
return(true);
}
}
bool flag = PawnUtility.ShouldCollideWithPawns(this.pawn);
bool flag2 = this.curPath.NodesLeftCount < 30;
IntVec3 other = IntVec3.Invalid;
int num3 = 0;
while (num3 < 20 && num3 < this.curPath.NodesLeftCount)
{
IntVec3 intVec = this.curPath.Peek(num3);
if (!intVec.Walkable(this.pawn.Map))
{
return(true);
}
if (flag && !this.BestPathHadPawnsInTheWayRecently() && (PawnUtility.AnyPawnBlockingPathAt(intVec, this.pawn, false, true, false) || (flag2 && PawnUtility.AnyPawnBlockingPathAt(intVec, this.pawn, false, false, false))))
{
return(true);
}
if (!this.BestPathHadDangerRecently() && PawnUtility.KnownDangerAt(intVec, this.pawn.Map, this.pawn))
{
return(true);
}
Building_Door building_Door = intVec.GetEdifice(this.pawn.Map) as Building_Door;
if (building_Door != null)
{
if (!building_Door.CanPhysicallyPass(this.pawn) && !this.pawn.HostileTo(building_Door))
{
return(true);
}
if (building_Door.IsForbiddenToPass(this.pawn))
{
return(true);
}
}
if (num3 != 0 && intVec.AdjacentToDiagonal(other) && (PathFinder.BlocksDiagonalMovement(intVec.x, other.z, this.pawn.Map) || PathFinder.BlocksDiagonalMovement(other.x, intVec.z, this.pawn.Map)))
{
return(true);
}
other = intVec;
num3++;
}
return(false);
}
//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);
}
public PawnPath FindShipPath(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode = PathEndMode.OnCell)
{
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAllDestroyableThings;
}
Pawn pawn = traverseParms.pawn;
if (!(pawn is null) && pawn.Map != this.map)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath for pawn which is spawned in another map. his map ShipPathFinder should have been used, not this one. " +
"pawn=", pawn,
" pawn.Map=", pawn.Map,
" map=", this.map
}), false);
return(PawnPath.NotFound);
}
if (!start.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindShipPath with invalid start ",
start,
", pawn=", pawn
}), false);
return(PawnPath.NotFound);
}
if (!dest.IsValid)
{
Log.Error(string.Concat(new object[]
{
"Tried to FindPath with invalid dest ",
dest,
", pawn= ",
pawn
}), false);
return(PawnPath.NotFound);
}
if (traverseParms.mode == TraverseMode.ByPawn)
{
if (!ShipReachabilityUtility.CanReachShip(pawn, dest, peMode, Danger.Deadly, false, traverseParms.mode))
{
return(PawnPath.NotFound);
}
}
else if (!mapE.getShipReachability.CanReachShip(start, dest, peMode, traverseParms))
{
return(PawnPath.NotFound);
}
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.shipPathGrid = mapE.getShipPathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
this.blueprintGrid = this.map.blueprintGrid.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 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 = this.CalculateDestinationRect(dest, peMode);
bool flag4 = cellRect.Width == 1 && cellRect.Height == 1;
int[] array = mapE.getShipPathGrid.pathGrid;
TerrainDef[] topGrid = this.map.terrainGrid.topGrid;
EdificeGrid edificeGrid = this.map.edificeGrid;
int num3 = 0;
int num4 = 0;
Area allowedArea = this.GetAllowedArea(pawn);
bool flag5 = !(pawn is null) && PawnUtility.ShouldCollideWithPawns(pawn);
bool flag6 = true && DebugViewSettings.drawPaths;
bool flag7 = !flag && !(WaterGridsUtility.GetRegion(start, this.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.GetComp <CompShips>() is null);
int num5 = (!flag11) ? NodesToOpenBeforeRegionbasedPathing_NonShip : NodesToOpenBeforeRegionBasedPathing_Ship;
int num6 = 0;
int num7 = 0;
float num8 = this.DetermineHeuristicStrength(pawn, start, dest);
int num9 = !(pawn is null) ? pawn.TicksPerMoveCardinal : DefaultMoveTicksCardinal;
int num10 = !(pawn is null) ? pawn.TicksPerMoveDiagonal : DefaultMoveTicksDiagonal;
this.CalculateAndAddDisallowedCorners(traverseParms, peMode, cellRect);
this.InitStatusesAndPushStartNode(ref num, start);
for (;;)
{
this.PfProfilerBeginSample("Open cell");
if (this.openList.Count <= 0)
{
break;
}
num6 += this.openList.Count;
num7++;
ShipPathFinder.CostNode costNode = this.openList.Pop();
num = costNode.index;
if (costNode.cost != this.calcGrid[num].costNodeCost)
{
this.PfProfilerEndSample();
}
else if (this.calcGrid[num].status == this.statusClosedValue)
{
this.PfProfilerEndSample();
}
else
{
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_32;
}
}
else if (cellRect.Contains(c) && !this.disallowedCornerIndices.Contains(num))
{
goto Block_34;
}
if (num3 > SearchLimit)
{
goto Block_35;
}
this.PfProfilerEndSample();
this.PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
uint num11 = (uint)(x2 + ShipPathFinder.Directions[i]);
uint num12 = (uint)(z2 + ShipPathFinder.Directions[i + 8]);
if ((ulong)num11 < ((ulong)this.mapSizeX) && (ulong)num12 < (ulong)((long)this.mapSizeZ))
{
int num13 = (int)num11;
int num14 = (int)num12;
int num15 = this.cellIndices.CellToIndex(num13, num14);
if (this.calcGrid[num15].status != this.statusClosedValue || flag9)
{
int num16 = 0;
//bool flag12 = false; Extra cost for traversing water
if (flag2 || !new IntVec3(num13, 0, num14).GetTerrain(this.map).HasTag("Water"))
{
if (!this.shipPathGrid.WalkableFast(num15))
{
if (!flag)
{
if (flag6)
{
this.DebugFlash(new IntVec3(num13, 0, num14), 0.22f, "walk");
}
goto IL_E3A;
}
//flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building is null)
{
goto IL_E3A;
}
if (!IsDestroyable(building))
{
goto IL_E3A;
}
num16 += (int)((float)building.HitPoints * 0.2f);
}
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, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 5:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 6:
if (this.BlocksDiagonalMovement(num + this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 + 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
case 7:
if (this.BlocksDiagonalMovement(num - this.mapSizeX))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2, 0, z2 - 1), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "ships");
}
goto IL_E3A;
}
num16 += 70;
}
break;
}
}
int num17 = (i <= 3) ? num9 : num10;
num17 += num16;
/*if(!flag12)
* {
* //Extra Costs for traversing water
* num17 += array[num15];
* num17 += flag10 ? topGrid[num15].extraDraftedPerceivedPathCost : topGrid[num15].extraNonDraftedPerceivedPathCost;
* }*/
if (!(byteGrid is null))
{
num17 += (int)(byteGrid[num15] * 8);
}
//Allowed area cost?
if (flag5 && PawnUtility.AnyPawnBlockingPathAt(new IntVec3(num13, 0, num14), pawn, false, false, true))
{
num17 += Cost_PawnCollision;
}
Building building2 = this.edificeGrid[num15];
if (!(building2 is null))
{
//Building Costs Here
}
List <Blueprint> list = this.blueprintGrid[num15];
if (!(list is null))
{
this.PfProfilerBeginSample("Blueprints");
int num18 = 0;
foreach (Blueprint bp in list)
{
num18 = Mathf.Max(num18, GetBlueprintCost(bp, pawn));
}
if (num18 == int.MaxValue)
{
this.PfProfilerEndSample();
goto IL_E3A;
}
num17 += num18;
this.PfProfilerEndSample();
}
int num19 = num17 + this.calcGrid[num].knownCost;
ushort status = this.calcGrid[num15].status;
if (!(pawn.GetComp <CompShips>() is null) && !this.map.terrainGrid.TerrainAt(num15).IsWater)
{
num19 += 10000;
}
if (status == this.statusClosedValue || status == this.statusOpenValue)
{
int num20 = 0;
if (status == this.statusClosedValue)
{
num20 = num9;
}
if (this.calcGrid[num15].knownCost <= num19 + num20)
{
goto IL_E3A;
}
}
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) *
ShipPathFinder.RegionheuristicWeighByNodesOpened.Evaluate((float)num4));
if (this.calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for ship ", pawn.ToStringSafe <Pawn>(),
" pathing from ", start,
" to ", dest, "."
}), pawn.GetHashCode() ^ 193840009, false);
this.calcGrid[num15].heuristicCost = 0;
}
}
else if (status != this.statusClosedValue && status != this.statusOpenValue)
{
int dx = Math.Abs(num13 - x);
int dz = Math.Abs(num14 - z);
int num21 = GenMath.OctileDistance(dx, dz, num9, num10);
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)num21 * num8);
}
int num22 = num19 + this.calcGrid[num15].heuristicCost;
//Log.Message("Num19: " + num19 + " || num22: " + num22);
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, false);
num22 = 0;
}
this.calcGrid[num15].parentIndex = num;
this.calcGrid[num15].knownCost = num19;
this.calcGrid[num15].status = this.statusOpenValue;
this.calcGrid[num15].costNodeCost = num22;
num4++;
this.openList.Push(new ShipPathFinder.CostNode(num15, num22));
}
}
}
IL_E3A :;
}
this.PfProfilerEndSample();
num3++;
this.calcGrid[num].status = this.statusClosedValue;
if (num4 >= num5 && flag7 && !flag9)
{
flag9 = true;
this.regionCostCalculator.Init(cellRect, traverseParms, num9, num10, byteGrid, allowedArea, flag10,
this.disallowedCornerIndices);
this.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();
Log.Warning(string.Concat(new object[]
{
"ship pawn: ", pawn, " pathing from ", start,
" to ", dest, " ran out of cells to process.\nJob:", text,
"\nFaction: ", text2
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
Block_32:
this.PfProfilerEndSample();
PawnPath result = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result);
Block_34:
this.PfProfilerEndSample();
PawnPath result2 = this.FinalizedPath(num, flag9);
this.PfProfilerEndSample();
return(result2);
Block_35:
Log.Warning(string.Concat(new object[]
{
"Ship ", pawn, " pathing from ", start,
" to ", dest, " hit search limit of ", SearchLimit, " cells."
}), false);
this.DebugDrawRichData();
this.PfProfilerEndSample();
return(PawnPath.NotFound);
}
public static IAttackTarget BestAttackTarget(IAttackTargetSearcher searcher, Verb verb, TargetScanFlags flags, Predicate <Thing> validator = null, float minDist = 0f, float maxDist = 9999f, IntVec3 locus = default(IntVec3), float maxTravelRadiusFromLocus = 3.40282347E+38f, bool canBash = false, bool canTakeTargetsCloserThanEffectiveMinRange = true)
{
Thing searcherThing = searcher.Thing;
Pawn searcherPawn = searcher as Pawn;
if (verb == null)
{
Log.Error("BestAttackTarget with " + searcher.ToStringSafe <IAttackTargetSearcher>() + " who has no attack verb.", false);
return(null);
}
bool onlyTargetMachines = verb.IsEMP();
float minDistSquared = minDist * minDist;
float num = maxTravelRadiusFromLocus + verb.verbProps.range;
float maxLocusDistSquared = num * num;
Func <IntVec3, bool> losValidator = null;
if ((byte)(flags & TargetScanFlags.LOSBlockableByGas) != 0)
{
losValidator = delegate(IntVec3 vec3)
{
Gas gas = vec3.GetGas(searcherThing.Map);
return(gas == null || !gas.def.gas.blockTurretTracking);
};
}
Predicate <IAttackTarget> innerValidator = delegate(IAttackTarget t)
{
Thing thing = t.Thing;
if (t == searcher)
{
return(false);
}
if (minDistSquared > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < minDistSquared)
{
return(false);
}
if (!canTakeTargetsCloserThanEffectiveMinRange)
{
float num2 = verb.verbProps.EffectiveMinRange(thing, searcherThing);
if (num2 > 0f && (float)(searcherThing.Position - thing.Position).LengthHorizontalSquared < num2 * num2)
{
return(false);
}
}
if (maxTravelRadiusFromLocus < 9999f && (float)(thing.Position - locus).LengthHorizontalSquared > maxLocusDistSquared)
{
return(false);
}
if (!searcherThing.HostileTo(thing))
{
return(false);
}
if (validator != null && !validator(thing))
{
return(false);
}
if (searcherPawn != null)
{
Lord lord = searcherPawn.GetLord();
if (lord != null && !lord.LordJob.ValidateAttackTarget(searcherPawn, thing))
{
return(false);
}
}
if ((byte)(flags & TargetScanFlags.NeedLOSToAll) != 0 && !searcherThing.CanSee(thing, losValidator))
{
if (t is Pawn)
{
if ((byte)(flags & TargetScanFlags.NeedLOSToPawns) != 0)
{
return(false);
}
}
else if ((byte)(flags & TargetScanFlags.NeedLOSToNonPawns) != 0)
{
return(false);
}
}
if ((byte)(flags & TargetScanFlags.NeedThreat) != 0 && t.ThreatDisabled(searcher))
{
return(false);
}
if (onlyTargetMachines && t is Pawn pawn && pawn.RaceProps.IsFlesh)
{
return(false);
}
if ((byte)(flags & TargetScanFlags.NeedNonBurning) != 0 && thing.IsBurning())
{
return(false);
}
if (searcherThing.def.race != null && searcherThing.def.race.intelligence >= Intelligence.Humanlike)
{
CompExplosive compExplosive = thing.TryGetComp <CompExplosive>();
if (compExplosive != null && compExplosive.wickStarted)
{
return(false);
}
}
if (thing.def.size.x == 1 && thing.def.size.z == 1)
{
if (thing.Position.Fogged(thing.Map))
{
return(false);
}
}
else
{
bool flag2 = false;
foreach (IntVec3 cellRect in thing.OccupiedRect())
{
if (cellRect.Fogged(thing.Map))
{
flag2 = true;
break;
}
}
if (!flag2)
{
return(false);
}
}
return(true);
};
if (PCF_AttackTargetFinder.HasRangedAttack(searcher, verb))
{
PCF_AttackTargetFinder.tmpTargets.Clear();
PCF_AttackTargetFinder.tmpTargets.AddRange(searcherThing.Map.attackTargetsCache.GetPotentialTargetsFor(searcher));
if ((byte)(flags & TargetScanFlags.NeedReachable) != 0)
{
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator(t) && PCF_AttackTargetFinder.CanReach(searcherThing, t.Thing, canBash));
}
bool flag = false;
for (int i = 0; i < PCF_AttackTargetFinder.tmpTargets.Count; i++)
{
IAttackTarget attackTarget = PCF_AttackTargetFinder.tmpTargets[i];
if (attackTarget.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) && innerValidator(attackTarget) && PCF_AttackTargetFinder.CanShootAtFromCurrentPosition(attackTarget, searcher, verb))
{
flag = true;
break;
}
}
IAttackTarget result;
if (flag)
{
PCF_AttackTargetFinder.tmpTargets.RemoveAll((IAttackTarget x) => !x.Thing.Position.InHorDistOf(searcherThing.Position, maxDist) || !innerValidator(x));
result = PCF_AttackTargetFinder.GetRandomShootingTargetByScore(PCF_AttackTargetFinder.tmpTargets, searcher, verb);
}
else
{
Predicate <Thing> validator2;
if ((byte)(flags & TargetScanFlags.NeedReachableIfCantHitFromMyPos) != 0 && (byte)(flags & TargetScanFlags.NeedReachable) == 0)
{
validator2 = ((Thing t) => innerValidator((IAttackTarget)t) && (PCF_AttackTargetFinder.CanReach(searcherThing, t, canBash) || PCF_AttackTargetFinder.CanShootAtFromCurrentPosition((IAttackTarget)t, searcher, verb)));
}
else
{
validator2 = ((Thing t) => innerValidator((IAttackTarget)t));
}
result = (IAttackTarget)GenClosest.ClosestThing_Global(searcherThing.Position, PCF_AttackTargetFinder.tmpTargets, maxDist, validator2, null);
}
PCF_AttackTargetFinder.tmpTargets.Clear();
return(result);
}
if (searcherPawn != null && searcherPawn.mindState.duty != null && searcherPawn.mindState.duty.radius > 0f && !searcherPawn.InMentalState)
{
Predicate <IAttackTarget> oldValidator = innerValidator;
innerValidator = ((IAttackTarget t) => oldValidator(t) && t.Thing.Position.InHorDistOf(searcherPawn.mindState.duty.focus.Cell, searcherPawn.mindState.duty.radius));
}
IntVec3 position = searcherThing.Position;
Map map = searcherThing.Map;
ThingRequest thingReq = ThingRequest.ForGroup(ThingRequestGroup.AttackTarget);
PathEndMode peMode = PathEndMode.Touch;
Pawn searcherPawn2 = searcherPawn;
Danger maxDanger = Danger.Deadly;
bool canBash2 = canBash;
TraverseParms traverseParams = TraverseParms.For(searcherPawn2, maxDanger, TraverseMode.ByPawn, canBash2);
float maxDist2 = maxDist;
bool validator3(Thing x) => innerValidator((IAttackTarget)x);
int searchRegionsMax = (maxDist <= 800f) ? 40 : -1;
IAttackTarget attackTarget2 = (IAttackTarget)GenClosest.ClosestThingReachable(position, map, thingReq, peMode, traverseParams, maxDist2, validator3, null, 0, searchRegionsMax, false, RegionType.Set_Passable, false);
if (attackTarget2 != null && PawnUtility.ShouldCollideWithPawns(searcherPawn))
{
IAttackTarget attackTarget3 = PCF_AttackTargetFinder.FindBestReachableMeleeTarget(innerValidator, searcherPawn, maxDist, canBash);
if (attackTarget3 != null)
{
float lengthHorizontal = (searcherPawn.Position - attackTarget2.Thing.Position).LengthHorizontal;
float lengthHorizontal2 = (searcherPawn.Position - attackTarget3.Thing.Position).LengthHorizontal;
if (Mathf.Abs(lengthHorizontal - lengthHorizontal2) < 50f)
{
attackTarget2 = attackTarget3;
}
}
}
return(attackTarget2);
}
//The standard A* search algorithm has been modified to implement the bidirectional pathmax algorithm
//("Inconsistent heuristics in theory and practice" Felner et al.) http://web.cs.du.edu/~sturtevant/papers/incnew.pdf
internal PawnPath FindPathInner(IntVec3 start, LocalTargetInfo dest, TraverseParms traverseParms, PathEndMode peMode, HeuristicMode mode = HeuristicMode.Better)
{
//The initialization is largely unchanged from Core, aside from coding style in some spots
#region initialization
if (DebugSettings.pathThroughWalls)
{
traverseParms.mode = TraverseMode.PassAnything;
}
Pawn pawn = traverseParms.pawn;
bool canPassAnything = traverseParms.mode == TraverseMode.PassAnything;
if (!ValidateFindPathParameters(pawn, start, dest, traverseParms, peMode, canPassAnything))
{
return(PawnPath.NotFound);
}
PfProfilerBeginSample(string.Concat("FindPath for ", pawn, " from ", start, " to ", dest, (!dest.HasThing) ? string.Empty : (" at " + dest.Cell)));
destinationX = dest.Cell.x;
destinationZ = dest.Cell.z;
var cellIndices = this.map.cellIndices;
curIndex = cellIndices.CellToIndex(start);
destinationIndex = cellIndices.CellToIndex(dest.Cell);
if (!dest.HasThing || peMode == PathEndMode.OnCell)
{
destinationRect = CellRect.SingleCell(dest.Cell);
}
else
{
destinationRect = dest.Thing.OccupiedRect();
}
if (peMode == PathEndMode.Touch)
{
destinationRect = destinationRect.ExpandedBy(1);
}
destinationRect = destinationRect.ClipInsideMap(map);
var regions = destinationRect.Cells.Select(c => this.map.regionGrid.GetValidRegionAt_NoRebuild(c)).Where(r => r != null);
//Pretty sure this shouldn't be able to happen...
if (mode == HeuristicMode.Better && !canPassAnything && !regions.Any())
{
mode = HeuristicMode.Vanilla;
Log.Warning("Pathfinding destination not in region, must fall back to vanilla!");
}
destinationIsOneCell = (destinationRect.Width == 1 && destinationRect.Height == 1);
this.pathGridDirect = this.map.pathGrid.pathGrid;
this.edificeGrid = this.map.edificeGrid.InnerArray;
statusOpenValue += 2;
statusClosedValue += 2;
if (statusClosedValue >= 65435)
{
ResetStatuses();
}
if (pawn?.RaceProps.Animal == true)
{
heuristicStrength = 30;
}
else
{
float lengthHorizontal = (start - dest.Cell).LengthHorizontal;
heuristicStrength = (int)Math.Round(HeuristicStrengthHuman_DistanceCurve.Evaluate(lengthHorizontal));
}
closedCellCount = 0;
openList.Clear();
debug_pathFailMessaged = false;
debug_totalOpenListCount = 0;
debug_openCellsPopped = 0;
PawnPathCostSettings pawnPathCosts = GetPawnPathCostSettings(traverseParms.pawn);
moveTicksCardinal = pawnPathCosts.moveTicksCardinal;
moveTicksDiagonal = pawnPathCosts.moveTicksDiagonal;
//Where the magic happens
RegionPathCostHeuristic regionCost = new RegionPathCostHeuristic(map, start, destinationRect, regions, traverseParms, pawnPathCosts);
if (mode == HeuristicMode.Better)
{
if (canPassAnything)
{
//Roughly preserves the Vanilla behavior of increasing path accuracy for shorter paths and slower pawns, though not as smoothly. Only applies to sappers.
heuristicStrength = Math.Max(1, (int)Math.Round(heuristicStrength / (float)moveTicksCardinal));
}
else
{
var totalCostEst = (debug_totalHeuristicCostEstimate = regionCost.GetPathCostToRegion(curIndex)) + (moveTicksCardinal * 50); //Add constant cost so it tries harder on short paths
regionHeuristicWeightReal[1].x = totalCostEst / 2;
regionHeuristicWeightReal[2].x = totalCostEst;
}
regionHeuristicWeight = weightEnabled ? regionHeuristicWeightReal : regionHeuristicWeightNone;
}
else
{
regionHeuristicWeight = regionHeuristicWeightNone;
}
calcGrid[curIndex].knownCost = 0;
calcGrid[curIndex].heuristicCost = 0;
calcGrid[curIndex].parentIndex = curIndex;
calcGrid[curIndex].status = statusOpenValue;
openList.Push(new CostNode(curIndex, 0));
bool shouldCollideWithPawns = false;
if (pawn != null)
{
shouldCollideWithPawns = PawnUtility.ShouldCollideWithPawns(pawn);
}
#endregion
while (true)
{
PfProfilerBeginSample("Open cell pop");
if (openList.Count <= 0)
{
break;
}
debug_openCellsPopped++;
var thisNode = openList.Pop();
curIndex = thisNode.gridIndex;
PfProfilerEndSample();
PfProfilerBeginSample("Open cell");
if (calcGrid[curIndex].status == statusClosedValue)
{
PfProfilerEndSample();
}
else
{
#if DEBUG
calcGrid[curIndex].timesPopped++;
#endif
curIntVec3 = cellIndices.IndexToCell(curIndex);
if (DebugViewSettings.drawPaths && !disableDebugFlash && debug_openCellsPopped < 20000)
{
//draw backpointer
var arrow = GetBackPointerArrow(cellIndices.IndexToCell(calcGrid[curIndex].parentIndex), curIntVec3);
string leading = "";
string trailing = "";
#if DEBUG
switch (calcGrid[curIndex].timesPopped)
{
case 1:
trailing = "\n\n"; // $"\n\n\n{thisNode.totalCostEstimate}({calcGrid[curIndex].knownCost + calcGrid[curIndex].originalHeuristicCost})";
break;
case 2:
trailing = "\n"; break;
case 3: break;
case 4:
leading = "\n"; break;
default:
leading = "\n\n"; break;
}
#endif
DebugFlash(curIntVec3, calcGrid[curIndex].knownCost / 1500f, leading + calcGrid[curIndex].knownCost + " " + arrow + " " + debug_openCellsPopped + trailing);
}
if (curIndex == destinationIndex || (!destinationIsOneCell && destinationRect.Contains(curIntVec3)))
{
PfProfilerEndSample();
PfProfilerBeginSample("Finalize Path");
var ret = FinalizedPath(curIndex);
PfProfilerEndSample();
return(ret);
}
//With reopening closed nodes, this limit can be reached a lot more easily. I've left it as is because it gets users to report bad paths.
if (closedCellCount > 160000)
{
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " hit search limit of ", 160000, " cells."));
PfProfilerEndSample();
return(PawnPath.NotFound);
}
PfProfilerEndSample();
PfProfilerBeginSample("Neighbor consideration");
for (int i = 0; i < 8; i++)
{
neighIndexes[i] = -1;
neighX = (ushort)(curIntVec3.x + Directions[i]);
neighZ = (ushort)(curIntVec3.z + Directions[i + 8]);
if (neighX >= mapSizeX || neighZ >= mapSizeZ)
{
continue;
}
switch (i)
{
case 4: //Northeast
if (!pathGridDirect.WalkableExtraFast(curIndex - mapSizeX) || !pathGridDirect.WalkableExtraFast(curIndex + 1))
{
continue;
}
break;
case 5: //Southeast
if (!pathGridDirect.WalkableExtraFast(curIndex + mapSizeX) || !pathGridDirect.WalkableExtraFast(curIndex + 1))
{
continue;
}
break;
case 6: //Southwest
if (!pathGridDirect.WalkableExtraFast(curIndex + mapSizeX) || !pathGridDirect.WalkableExtraFast(curIndex - 1))
{
continue;
}
break;
case 7: //Northwest
if (!pathGridDirect.WalkableExtraFast(curIndex - mapSizeX) || !pathGridDirect.WalkableExtraFast(curIndex - 1))
{
continue;
}
break;
}
neighIndex = cellIndices.CellToIndex(neighX, neighZ);
if ((calcGrid[neighIndex].status != statusClosedValue) && (calcGrid[neighIndex].status != statusOpenValue))
{
if (10000 <= (calcGrid[neighIndex].perceivedPathCost = GetTotalPerceivedPathCost(traverseParms, canPassAnything, shouldCollideWithPawns, pawn, pawnPathCosts)))
{
continue;
}
#if DEBUG
calcGrid[neighIndex].timesPopped = 0;
#endif
#region heuristic
PfProfilerBeginSample("Heuristic");
switch (mode)
{
case HeuristicMode.Vanilla:
h = heuristicStrength * (Math.Abs(neighX - destinationX) + Math.Abs(neighZ - destinationZ));
break;
case HeuristicMode.AdmissableOctile:
{
var dx = Math.Abs(neighX - destinationX);
var dy = Math.Abs(neighZ - destinationZ);
h = moveTicksCardinal * (dx + dy) + (moveTicksDiagonal - 2 * moveTicksCardinal) * Math.Min(dx, dy);
}
break;
case HeuristicMode.Better:
if (canPassAnything)
{
var dx = Math.Abs(neighX - destinationX);
var dy = Math.Abs(neighZ - destinationZ);
h = heuristicStrength * (moveTicksCardinal * (dx + dy) + (moveTicksDiagonal - 2 * moveTicksCardinal) * Math.Min(dx, dy));
}
else
{
h = regionCost.GetPathCostToRegion(neighIndex);
}
break;
}
calcGrid[neighIndex].heuristicCost = h;
#if PATHMAX
calcGrid[neighIndex].originalHeuristicCost = h;
#endif
PfProfilerEndSample();
#endregion
}
if (calcGrid[neighIndex].perceivedPathCost < 10000)
{
neighIndexes[i] = neighIndex;
}
if (mode == HeuristicMode.Better && (calcGrid[neighIndex].status == statusOpenValue &&
Math.Max(i > 3 ? (int)(calcGrid[curIndex].perceivedPathCost * diagonalPerceivedCostWeight) + moveTicksDiagonal : calcGrid[curIndex].perceivedPathCost + moveTicksCardinal, 1) + calcGrid[neighIndex].knownCost < calcGrid[curIndex].knownCost))
{
calcGrid[curIndex].parentIndex = neighIndex;
calcGrid[curIndex].knownCost = Math.Max(i > 3 ? (int)(calcGrid[curIndex].perceivedPathCost * diagonalPerceivedCostWeight) + moveTicksDiagonal : calcGrid[curIndex].perceivedPathCost + moveTicksCardinal, 1) + calcGrid[neighIndex].knownCost;
}
}
#region BPMX Best H
#if PATHMAX
PfProfilerBeginSample("BPMX Best H");
int bestH = calcGrid[curIndex].heuristicCost;
if (mode == HeuristicMode.Better && pathmaxEnabled)
{
for (int i = 0; i < 8; i++)
{
neighIndex = neighIndexes[i];
if (neighIndex < 0)
{
continue;
}
bestH = Math.Max(bestH, calcGrid[neighIndex].heuristicCost - (calcGrid[curIndex].perceivedPathCost + (i > 3 ? moveTicksDiagonal : moveTicksCardinal)));
}
}
//Pathmax Rule 3: set the current node heuristic to the best value of all connected nodes
calcGrid[curIndex].heuristicCost = bestH;
PfProfilerEndSample();
#endif
#endregion
#region Updating open list
for (int i = 0; i < 8; i++)
{
neighIndex = neighIndexes[i];
if (neighIndex < 0)
{
continue;
}
if (calcGrid[neighIndex].status == statusClosedValue && (canPassAnything || mode != HeuristicMode.Better))
{
continue;
}
//When path costs are significantly higher than move costs (e.g. snowy ice, or outside of allowed areas),
//small differences in the weighted heuristic overwhelm the added cost of diagonal movement, so nodes
//can often be visited in unnecessary zig-zags, causing lots of nodes to be reopened later, and weird looking
//paths if they are not revisited. Weighting the diagonal path cost slightly counteracts this behavior, and
//should result in natural looking paths when it does cause suboptimal behavior
var thisDirEdgeCost = (i > 3 ? (int)(calcGrid[neighIndex].perceivedPathCost * diagonalPerceivedCostWeight) + moveTicksDiagonal : calcGrid[neighIndex].perceivedPathCost + moveTicksCardinal);
//var thisDirEdgeCost = calcGrid[neighIndex].perceivedPathCost + (i > 3 ? moveTicksDiagonal : moveTicksCardinal);
//Some mods can result in negative path costs. That works well enough with Vanilla, since it won't revisit closed nodes, but when we do, it's an infinite loop.
thisDirEdgeCost = (ushort)Math.Max(thisDirEdgeCost, 1);
neighCostThroughCur = thisDirEdgeCost + calcGrid[curIndex].knownCost;
#if PATHMAX
//Pathmax Rule 1
int nodeH = (mode == HeuristicMode.Better && pathmaxEnabled) ? Math.Max(calcGrid[neighIndex].heuristicCost, bestH - thisDirEdgeCost) : calcGrid[neighIndex].heuristicCost;
#endif
if (calcGrid[neighIndex].status == statusClosedValue || calcGrid[neighIndex].status == statusOpenValue)
{
#if PATHMAX
bool needsUpdate = false;
#endif
int minReopenGain = 0;
if (calcGrid[neighIndex].status == statusOpenValue)
{
#if PATHMAX
needsUpdate = nodeH > calcGrid[neighIndex].heuristicCost;
#endif
}
else
{ //Don't reopen closed nodes if the path cost difference isn't large enough to justify it; otherwise there can be cascades of revisiting the same nodes over and over for tiny path improvements each time
//Increasing the threshold as more cells get reopened further helps prevent cascades
minReopenGain = moveTicksCardinal + closedCellsReopened / 5;
if (pawnPathCosts.area?[neighIndex] == false)
{
minReopenGain *= 10;
}
}
#if PATHMAX
calcGrid[neighIndex].heuristicCost = nodeH;
#endif
if (!(neighCostThroughCur + minReopenGain < calcGrid[neighIndex].knownCost))
{
#if PATHMAX
if (needsUpdate) //if the heuristic cost was increased for an open node, we need to adjust its spot in the queue
{
var neighCell = cellIndices.IndexToCell(neighIndex);
var edgeCost = Math.Max(calcGrid[neighIndex].parentX != neighCell.x && calcGrid[neighIndex].parentZ != neighCell.z ? (int)(calcGrid[neighIndex].perceivedPathCost * diagonalPercievedCostWeight) + moveTicksDiagonal : calcGrid[neighIndex].perceivedPathCost + moveTicksCardinal, 1);
openList.PushOrUpdate(new CostNode(neighIndex, calcGrid[neighIndex].knownCost - edgeCost
+ (int)Math.Ceiling((edgeCost + nodeH) * regionHeuristicWeight.Evaluate(calcGrid[neighIndex].knownCost))));
}
#endif
continue;
}
if (calcGrid[neighIndex].status == statusClosedValue)
{
closedCellsReopened++;
}
}
//else
//{
// DebugFlash(cellIndices.IndexToCell(neighIndex), 0.2f, $"\n\n{neighCostThroughCur} | {nodeH}\n{calcGrid[curIndex].knownCost + (int)Math.Ceiling((nodeH + thisDirEdgeCost) * regionHeuristicWeight.Evaluate(calcGrid[curIndex].knownCost))}");
//}
calcGrid[neighIndex].parentIndex = curIndex;
calcGrid[neighIndex].knownCost = neighCostThroughCur;
calcGrid[neighIndex].status = statusOpenValue;
#if PATHMAX
calcGrid[neighIndex].heuristicCost = nodeH;
#endif
PfProfilerBeginSample("Push Open");
openList.PushOrUpdate(new CostNode(neighIndex, calcGrid[curIndex].knownCost
+ (int)Math.Ceiling((calcGrid[neighIndex].heuristicCost + thisDirEdgeCost) * regionHeuristicWeight.Evaluate(calcGrid[curIndex].knownCost))));
debug_totalOpenListCount++;
PfProfilerEndSample();
}
#endregion
PfProfilerEndSample();
closedCellCount++;
calcGrid[curIndex].status = statusClosedValue;
}
}
if (!debug_pathFailMessaged)
{
string text = pawn?.CurJob?.ToString() ?? "null";
string text2 = pawn?.Faction?.ToString() ?? "null";
Log.Warning(string.Concat(pawn, " pathing from ", start, " to ", dest, " ran out of cells to process.\nJob:", text, "\nFaction: ", text2));
debug_pathFailMessaged = true;
}
PfProfilerEndSample();
return(PawnPath.NotFound);
}
