public PathList[] GetPath(PathfinderNode[] StartNodes, PathfinderNode FinishNode, int Accuracy, int MinClearance)
{
int num;
int num4;
int num9;
int num13 = StartNodes.GetUpperBound(0) + 1;
PathList[] listArray2 = new PathList[(this.NodeLayerCount - 1) + 1];
PathfinderNode[,] nodeArray3 = new PathfinderNode[(this.NodeLayerCount - 1) + 1, (num13 - 1) + 1];
PathfinderNode[] nodeArray2 = new PathfinderNode[(this.NodeLayerCount - 1) + 1];
PathfinderNode[] nodeArray = new PathfinderNode[0x18];
int[] numArray2 = new int[0x18];
bool[] flagArray = new bool[(num13 - 1) + 1];
Path[] pathArray = new Path[0x18];
float[] numArray = new float[0x18];
bool[] flagArray2 = this.NetworkLargeArrays.Nodes_Booleans;
float[] numArray3 = this.NetworkLargeArrays.Nodes_ValuesA;
PathfinderNode[] nodeArray4 = this.NetworkLargeArrays.Nodes_Nodes;
Path path = this.NetworkLargeArrays.Nodes_Path;
int index = StartNodes[0].Layer.Network_LayerNum;
nodeArray2[index] = FinishNode;
int num2 = index;
while (true)
{
if (nodeArray2[num2].ParentNode == null)
{
num9 = num2;
break;
}
nodeArray2[num2 + 1] = nodeArray2[num2].ParentNode;
num2++;
}
int num14 = num13 - 1;
for (num = 0; num <= num14; num++)
{
nodeArray3[index, num] = StartNodes[num];
num2 = index;
while (true)
{
if (nodeArray3[num2, num].ParentNode == null)
{
if (nodeArray3[num2, num] == nodeArray2[num2])
{
flagArray[num] = true;
num4++;
}
break;
}
nodeArray3[num2 + 1, num] = nodeArray3[num2, num].ParentNode;
num2++;
}
}
if (num4 != 0)
{
int num11 = num9;
listArray2[num11].Paths = new Path[] { new Path() };
listArray2[num11].PathCount = 1;
listArray2[num11].Paths[0].Nodes = new PathfinderNode[] { nodeArray2[num11] };
listArray2[num11].Paths[0].NodeCount = 1;
do
{
int num3;
int num5;
int num6;
int num7;
bool flag;
int num12;
bool flag3;
PathfinderNode node;
PathfinderNode otherNode;
int num10 = num11;
num11--;
if (num11 < index)
{
return listArray2;
}
if (flag3)
{
if (Accuracy < 0)
{
Debugger.Break();
}
int num15 = listArray2[num10].PathCount - 1;
for (num12 = 0; num12 <= num15; num12++)
{
numArray2[num12] = Math.Min(Accuracy, listArray2[num10].Paths[num12].NodeCount - 1);
}
nodeArray[0] = listArray2[num10].Paths[0].Nodes[numArray2[0]];
num6 = 1;
flag = true;
}
else
{
if (Accuracy >= 0)
{
int num16 = listArray2[num10].PathCount - 1;
for (num12 = 0; num12 <= num16; num12++)
{
if (listArray2[num10].Paths[num12].NodeCount > Accuracy)
{
flag3 = true;
break;
}
}
}
nodeArray[0] = nodeArray2[num11];
if (num11 == index)
{
num6 = 1;
}
else
{
int num17 = nodeArray[0].ConnectionCount - 1;
num = 0;
while (num <= num17)
{
nodeArray[1 + num] = nodeArray[0].Connections[num].GetOtherNode(nodeArray[0]);
num++;
}
num6 = 1 + nodeArray[0].ConnectionCount;
}
int num18 = listArray2[num10].PathCount - 1;
for (num12 = 0; num12 <= num18; num12++)
{
numArray2[num12] = listArray2[num10].Paths[num12].NodeCount - 1;
}
flag = false;
}
int num19 = listArray2[num10].PathCount - 1;
for (num12 = 0; num12 <= num19; num12++)
{
int num20 = numArray2[num12];
num = 0;
while (num <= num20)
{
node = listArray2[num10].Paths[num12].Nodes[num];
int num21 = node.ConnectionCount - 1;
num5 = 0;
while (num5 <= num21)
{
otherNode = node.Connections[num5].GetOtherNode(node);
int num22 = otherNode.ConnectionCount - 1;
num7 = 0;
while (num7 <= num22)
{
num3 = otherNode.Connections[num7].GetOtherNode(otherNode).Layer_NodeNum;
flagArray2[num3] = false;
num7++;
}
num5++;
}
num++;
}
}
int num23 = listArray2[num10].PathCount - 1;
num12 = 0;
while (num12 <= num23)
{
int num24 = numArray2[num12];
num = 0;
while (num <= num24)
{
node = listArray2[num10].Paths[num12].Nodes[num];
num3 = node.Layer_NodeNum;
flagArray2[num3] = true;
int num25 = node.NodeCount - 1;
num7 = 0;
while (num7 <= num25)
{
num3 = node.Nodes[num7].Layer_NodeNum;
numArray3[num3] = float.MaxValue;
num7++;
}
int num26 = node.ConnectionCount - 1;
for (num5 = 0; num5 <= num26; num5++)
{
otherNode = node.Connections[num5].GetOtherNode(node);
num3 = otherNode.Layer_NodeNum;
flagArray2[num3] = true;
int num27 = otherNode.NodeCount - 1;
for (num7 = 0; num7 <= num27; num7++)
{
num3 = otherNode.Nodes[num7].Layer_NodeNum;
numArray3[num3] = float.MaxValue;
}
}
num++;
}
num12++;
}
sFloodRouteArgs args = new sFloodRouteArgs {
CurrentPath = path,
FinishNodes = nodeArray,
FinishNodeCount = num6,
FinishIsParent = flag,
Visit = flagArray2,
NodeValues = numArray3,
SourceNodes = nodeArray4,
MinClearance = MinClearance
};
int num28 = num6 - 1;
for (num = 0; num <= num28; num++)
{
pathArray[num] = null;
numArray[num] = float.MaxValue;
}
int num29 = num13 - 1;
for (num = 0; num <= num29; num++)
{
if (flagArray[num])
{
path.NodeCount = 1;
path.Nodes[0] = nodeArray3[num11, num];
path.Value = 0f;
args.BestPaths = new Path[(num6 - 1) + 1];
this.FloodRoute(ref args);
int num30 = num6 - 1;
num12 = 0;
while (num12 <= num30)
{
if ((args.BestPaths[num12] != null) && (args.BestPaths[num12].Value < numArray[num12]))
{
numArray[num12] = args.BestPaths[num12].Value;
pathArray[num12] = args.BestPaths[num12];
}
num12++;
}
}
}
listArray2[num11].Paths = new Path[(num6 - 1) + 1];
listArray2[num11].PathCount = 0;
int num31 = num6 - 1;
for (num12 = 0; num12 <= num31; num12++)
{
if (pathArray[num12] != null)
{
listArray2[num11].Paths[listArray2[num11].PathCount] = pathArray[num12];
PathList[] listArray3 = listArray2;
int num32 = num11;
listArray3[num32].PathCount++;
}
}
listArray2[num11].Paths = (Path[]) Utils.CopyArray((Array) listArray2[num11].Paths, new Path[(listArray2[num11].PathCount - 1) + 1]);
}
while (listArray2[num11].PathCount != 0);
}
return null;
}
public Path[] GetAllPaths(PathfinderNode[] StartNodes, PathfinderNode FinishNode, int MinClearance)
{
int num4;
int num7;
sFloodRouteAllArgs args;
int num10 = StartNodes.GetUpperBound(0) + 1;
PathfinderNode[,] nodeArray3 = new PathfinderNode[0x20, (num10 - 1) + 1];
PathfinderNode[] nodeArray2 = new PathfinderNode[0x20];
PathfinderNode[] nodeArray = new PathfinderNode[0x18];
bool[] flagArray = new bool[(num10 - 1) + 1];
Path[] pathArray2 = new Path[0x20];
PathfinderNode[] nodeArray4 = this.NetworkLargeArrays.Nodes_Nodes;
bool[] flagArray2 = this.NetworkLargeArrays.Nodes_Booleans;
float[] numArray = this.NetworkLargeArrays.Nodes_ValuesA;
float[] numArray2 = this.NetworkLargeArrays.Nodes_ValuesB;
int index = StartNodes[0].Layer.Network_LayerNum;
nodeArray2[index] = FinishNode;
int num2 = index;
while (true)
{
if (nodeArray2[num2].ParentNode == null)
{
num7 = num2;
break;
}
nodeArray2[num2 + 1] = nodeArray2[num2].ParentNode;
num2++;
}
int num11 = num10 - 1;
int num = 0;
while (num <= num11)
{
nodeArray3[index, num] = StartNodes[num];
num2 = index;
while (true)
{
if (nodeArray3[num2, num].ParentNode == null)
{
if (nodeArray3[num2, num] == nodeArray2[num2])
{
flagArray[num] = true;
num4++;
}
break;
}
nodeArray3[num2 + 1, num] = nodeArray3[num2, num].ParentNode;
num2++;
}
num++;
}
if (num4 == 0)
{
return null;
}
int num9 = num7;
pathArray2[num9] = new Path();
pathArray2[num9].Nodes = new PathfinderNode[] { nodeArray2[num9] };
pathArray2[num9].NodeCount = 1;
do
{
int num3;
PathfinderNode node;
int num8 = num9;
num9--;
if (num9 < index)
{
return pathArray2;
}
int num12 = pathArray2[num8].NodeCount - 1;
num = 0;
while (num <= num12)
{
node = pathArray2[num8].Nodes[num];
int num13 = node.ConnectionCount - 1;
for (num2 = 0; num2 <= num13; num2++)
{
num3 = node.Connections[num2].GetOtherNode(node).Layer_NodeNum;
flagArray2[num3] = false;
}
num++;
}
int num14 = pathArray2[num8].NodeCount - 1;
num = 0;
while (num <= num14)
{
node = pathArray2[num8].Nodes[num];
num3 = node.Layer_NodeNum;
flagArray2[num3] = true;
int num15 = node.NodeCount - 1;
for (int i = 0; i <= num15; i++)
{
num3 = node.Nodes[i].Layer_NodeNum;
numArray[num3] = float.MaxValue;
numArray2[num3] = float.MaxValue;
}
num++;
}
args = new sFloodRouteAllArgs {
FinishNode = nodeArray2[num9],
Visit = flagArray2,
NodeValuesA = numArray,
SourceNodes = nodeArray4,
NodeValuesB = numArray2,
MinClearance = MinClearance,
BestTolerance = (float) Math.Pow(1.1, (double) num9),
StartNodes = new PathfinderNode[(num10 - 1) + 1]
};
int num16 = num10 - 1;
num = 0;
while (num <= num16)
{
if (flagArray[num])
{
args.StartNodes[args.StartNodeCount] = nodeArray3[num9, num];
args.StartNodeCount++;
}
num++;
}
args.StartNodes = (PathfinderNode[]) Utils.CopyArray((Array) args.StartNodes, new PathfinderNode[(args.StartNodeCount - 1) + 1]);
this.FloodRouteAll(ref args);
pathArray2[num9] = new Path();
pathArray2[num9].Nodes = new PathfinderNode[(args.BestNodeCount - 1) + 1];
int num17 = args.BestNodeCount - 1;
for (num = 0; num <= num17; num++)
{
pathArray2[num9].Nodes[num] = args.SourceNodes[num];
}
pathArray2[num9].NodeCount = args.BestNodeCount;
}
while (args.BestNodeCount != 0);
Debugger.Break();
return pathArray2;
}
