// Token: 0x06001E07 RID: 7687 RVA: 0x000813BC File Offset: 0x0007F5BC
public bool PerformStep()
{
List <NodeGraphSpider.StepInfo> list = this.uncheckedSteps;
this.uncheckedSteps = new List <NodeGraphSpider.StepInfo>();
for (int i = 0; i < list.Count; i++)
{
NodeGraphSpider.StepInfo stepInfo = list[i];
foreach (NodeGraph.LinkIndex linkIndex in this.nodeGraph.GetActiveNodeLinks(stepInfo.node))
{
if (this.nodeGraph.IsLinkSuitableForHull(linkIndex, this.hullMask))
{
NodeGraph.NodeIndex linkEndNode = this.nodeGraph.GetLinkEndNode(linkIndex);
if (!this.visitedNodes[linkEndNode.nodeIndex])
{
this.uncheckedSteps.Add(new NodeGraphSpider.StepInfo
{
node = linkEndNode,
previousStep = stepInfo
});
this.visitedNodes[linkEndNode.nodeIndex] = true;
}
}
}
this.collectedSteps.Add(stepInfo);
}
return(list.Count > 0);
}
// Token: 0x06001DF4 RID: 7668 RVA: 0x00080FE0 File Offset: 0x0007F1E0
private void ReconstructPath(Path path, NodeGraph.LinkIndex[] cameFrom, NodeGraph.LinkIndex current, NodeGraph.PathRequest pathRequest)
{
int num = 1 << (int)pathRequest.hullClassification;
path.Clear();
if (current != NodeGraph.LinkIndex.invalid)
{
path.PushWaypointToFront(this.links[current.linkIndex].nodeIndexB, 0f);
}
while (current != NodeGraph.LinkIndex.invalid)
{
NodeGraph.NodeIndex nodeIndexB = this.links[current.linkIndex].nodeIndexB;
float minJumpHeight = 0f;
if ((num & this.links[current.linkIndex].jumpHullMask) != 0 && this.links[current.linkIndex].minJumpHeight > 0f)
{
Vector3 position = this.nodes[this.links[current.linkIndex].nodeIndexA.nodeIndex].position;
Vector3 position2 = this.nodes[this.links[current.linkIndex].nodeIndexB.nodeIndex].position;
minJumpHeight = Trajectory.CalculateApex(Trajectory.CalculateInitialYSpeed(Trajectory.CalculateGroundTravelTime(pathRequest.maxSpeed, NodeGraph.DistanceXZ(position, position2)), position2.y - position.y));
}
path.PushWaypointToFront(nodeIndexB, minJumpHeight);
if (cameFrom[this.links[current.linkIndex].nodeIndexA.nodeIndex] == NodeGraph.LinkIndex.invalid)
{
path.PushWaypointToFront(this.links[current.linkIndex].nodeIndexA, 0f);
}
current = cameFrom[this.links[current.linkIndex].nodeIndexA.nodeIndex];
}
path.status = PathStatus.Valid;
}
// Token: 0x06001DE5 RID: 7653 RVA: 0x000805E4 File Offset: 0x0007E7E4
public bool GetNodeFlags(NodeGraph.NodeIndex nodeIndex, out NodeFlags flags)
{
if (nodeIndex != NodeGraph.NodeIndex.invalid && nodeIndex.nodeIndex < this.nodes.Length)
{
flags = this.nodes[nodeIndex.nodeIndex].flags;
return(true);
}
flags = NodeFlags.None;
return(false);
}
// Token: 0x06001DE4 RID: 7652 RVA: 0x00080590 File Offset: 0x0007E790
public bool GetNodePosition(NodeGraph.NodeIndex nodeIndex, out Vector3 position)
{
if (nodeIndex != NodeGraph.NodeIndex.invalid && nodeIndex.nodeIndex < this.nodes.Length)
{
position = this.nodes[nodeIndex.nodeIndex].position;
return(true);
}
position = Vector3.zero;
return(false);
}
// Token: 0x06001DF1 RID: 7665 RVA: 0x00080AC8 File Offset: 0x0007ECC8
private static void ArrayRemoveNodeIndex(NodeGraph.NodeIndex[] array, NodeGraph.NodeIndex value, int count)
{
for (int i = 0; i < count; i++)
{
if (array[i] == value)
{
array[i] = array[count - 1];
return;
}
}
}
// Token: 0x06001E08 RID: 7688 RVA: 0x000814AC File Offset: 0x0007F6AC
public void AddNodeForNextStep(NodeGraph.NodeIndex nodeIndex)
{
if (!this.visitedNodes[nodeIndex.nodeIndex])
{
this.uncheckedSteps.Add(new NodeGraphSpider.StepInfo
{
node = nodeIndex,
previousStep = null
});
this.visitedNodes[nodeIndex.nodeIndex] = true;
}
}
// Token: 0x06001DF3 RID: 7667 RVA: 0x00080F68 File Offset: 0x0007F168
private NodeGraph.LinkIndex Resolve(NodeGraph.LinkIndex[] cameFrom, NodeGraph.LinkIndex current)
{
if (current.linkIndex < 0 || current.linkIndex > this.links.Length)
{
Debug.LogFormat("Link {0} is out of range [0,{1})", new object[]
{
current.linkIndex,
this.links.Length
});
}
NodeGraph.NodeIndex nodeIndexA = this.links[current.linkIndex].nodeIndexA;
return(cameFrom[nodeIndexA.nodeIndex]);
}
// Token: 0x06001DE6 RID: 7654 RVA: 0x00080624 File Offset: 0x0007E824
public NodeGraph.LinkIndex[] GetActiveNodeLinks(NodeGraph.NodeIndex nodeIndex)
{
if (nodeIndex != NodeGraph.NodeIndex.invalid && nodeIndex.nodeIndex < this.nodes.Length)
{
NodeGraph.LinkListIndex linkListIndex = this.nodes[nodeIndex.nodeIndex].linkListIndex;
NodeGraph.LinkIndex[] array = new NodeGraph.LinkIndex[linkListIndex.size];
int index = linkListIndex.index;
int num = 0;
while ((long)num < (long)((ulong)linkListIndex.size))
{
array[num] = new NodeGraph.LinkIndex
{
linkIndex = index++
};
num++;
}
return(array);
}
return(null);
}
// Token: 0x06001DED RID: 7661 RVA: 0x00080930 File Offset: 0x0007EB30
public NodeGraph.NodeIndex FindClosestNode(Vector3 position, HullClassification hullClassification)
{
float num = float.PositiveInfinity;
NodeGraph.NodeIndex invalid = NodeGraph.NodeIndex.invalid;
int num2 = 1 << (int)hullClassification;
for (int i = 0; i < this.nodes.Length; i++)
{
NodeGraph.Node node = this.nodes[i];
if ((node.forbiddenHulls & (HullMask)num2) == HullMask.None && (node.gateIndex == 0 || this.openGates[(int)node.gateIndex]))
{
float sqrMagnitude = (node.position - position).sqrMagnitude;
if (sqrMagnitude < num)
{
num = sqrMagnitude;
invalid = new NodeGraph.NodeIndex(i);
}
}
}
return(invalid);
}
// Token: 0x06001DEE RID: 7662 RVA: 0x000809C0 File Offset: 0x0007EBC0
public NodeGraph.NodeIndex FindClosestNodeWithFlagConditions(Vector3 position, HullClassification hullClassification, NodeFlags requiredFlags, NodeFlags forbiddenFlags, bool preventOverhead)
{
float num = float.PositiveInfinity;
NodeGraph.NodeIndex invalid = NodeGraph.NodeIndex.invalid;
int num2 = 1 << (int)hullClassification;
for (int i = 0; i < this.nodes.Length; i++)
{
NodeFlags flags = this.nodes[i].flags;
if ((flags & forbiddenFlags) == NodeFlags.None && (flags & requiredFlags) == requiredFlags && (this.nodes[i].forbiddenHulls & (HullMask)num2) == HullMask.None && (this.nodes[i].gateIndex == 0 || this.openGates[(int)this.nodes[i].gateIndex]))
{
Vector3 a = this.nodes[i].position - position;
float sqrMagnitude = a.sqrMagnitude;
if (sqrMagnitude < num && (!preventOverhead || Vector3.Dot(a / Mathf.Sqrt(sqrMagnitude), Vector3.up) <= 0.70710677f))
{
num = sqrMagnitude;
invalid = new NodeGraph.NodeIndex(i);
}
}
}
return(invalid);
}
// Token: 0x06001DF2 RID: 7666 RVA: 0x00080B04 File Offset: 0x0007ED04
public PathTask ComputePath(NodeGraph.PathRequest pathRequest)
{
PathTask pathTask = new PathTask(pathRequest.path);
pathTask.status = PathTask.TaskStatus.Running;
NodeGraph.NodeIndex nodeIndex = this.FindClosestNode(pathRequest.startPos, pathRequest.hullClassification);
NodeGraph.NodeIndex nodeIndex2 = this.FindClosestNode(pathRequest.endPos, pathRequest.hullClassification);
if (nodeIndex.nodeIndex == NodeGraph.NodeIndex.invalid.nodeIndex || nodeIndex2.nodeIndex == NodeGraph.NodeIndex.invalid.nodeIndex)
{
pathRequest.path.Clear();
pathTask.status = PathTask.TaskStatus.Complete;
return(pathTask);
}
int num = 1 << (int)pathRequest.hullClassification;
bool[] array = new bool[this.nodes.Length];
bool[] array2 = new bool[this.nodes.Length];
array2[nodeIndex.nodeIndex] = true;
int i = 1;
NodeGraph.NodeIndex[] array3 = new NodeGraph.NodeIndex[this.nodes.Length];
array3[0] = nodeIndex;
NodeGraph.LinkIndex[] array4 = new NodeGraph.LinkIndex[this.nodes.Length];
for (int j = 0; j < array4.Length; j++)
{
array4[j] = NodeGraph.LinkIndex.invalid;
}
float[] array5 = new float[this.nodes.Length];
for (int k = 0; k < array5.Length; k++)
{
array5[k] = float.PositiveInfinity;
}
array5[nodeIndex.nodeIndex] = 0f;
float[] array6 = new float[this.nodes.Length];
for (int l = 0; l < array6.Length; l++)
{
array6[l] = float.PositiveInfinity;
}
array6[nodeIndex.nodeIndex] = this.HeuristicCostEstimate(pathRequest.startPos, pathRequest.endPos);
while (i > 0)
{
NodeGraph.NodeIndex invalid = NodeGraph.NodeIndex.invalid;
float num2 = float.PositiveInfinity;
for (int m = 0; m < i; m++)
{
int nodeIndex3 = array3[m].nodeIndex;
if (array6[nodeIndex3] <= num2)
{
num2 = array6[nodeIndex3];
invalid = new NodeGraph.NodeIndex(nodeIndex3);
}
}
if (invalid.nodeIndex == nodeIndex2.nodeIndex)
{
this.ReconstructPath(pathRequest.path, array4, array4[invalid.nodeIndex], pathRequest);
pathTask.status = PathTask.TaskStatus.Complete;
return(pathTask);
}
array2[invalid.nodeIndex] = false;
NodeGraph.ArrayRemoveNodeIndex(array3, invalid, i);
i--;
array[invalid.nodeIndex] = true;
NodeGraph.LinkListIndex linkListIndex = this.nodes[invalid.nodeIndex].linkListIndex;
NodeGraph.LinkIndex linkIndex = new NodeGraph.LinkIndex
{
linkIndex = linkListIndex.index
};
NodeGraph.LinkIndex linkIndex2 = new NodeGraph.LinkIndex
{
linkIndex = linkListIndex.index + (int)linkListIndex.size
};
while (linkIndex.linkIndex < linkIndex2.linkIndex)
{
NodeGraph.Link link = this.links[linkIndex.linkIndex];
NodeGraph.NodeIndex nodeIndexB = link.nodeIndexB;
if (!array[nodeIndexB.nodeIndex])
{
if ((num & link.jumpHullMask) != 0 && this.links[linkIndex.linkIndex].minJumpHeight > 0f)
{
Vector3 position = this.nodes[link.nodeIndexA.nodeIndex].position;
Vector3 position2 = this.nodes[link.nodeIndexB.nodeIndex].position;
if (Trajectory.CalculateApex(Trajectory.CalculateInitialYSpeed(Trajectory.CalculateGroundTravelTime(pathRequest.maxSpeed, NodeGraph.DistanceXZ(position, position2)), position2.y - position.y)) > pathRequest.maxJumpHeight)
{
goto IL_41A;
}
}
if ((link.hullMask & num) != 0 && (link.gateIndex == 0 || this.openGates[(int)link.gateIndex]))
{
float num3 = array5[invalid.nodeIndex] + link.distanceScore;
if (!array2[nodeIndexB.nodeIndex])
{
array2[nodeIndexB.nodeIndex] = true;
array3[i] = nodeIndexB;
i++;
}
else if (num3 >= array5[nodeIndexB.nodeIndex])
{
goto IL_41A;
}
array4[nodeIndexB.nodeIndex] = linkIndex;
array5[nodeIndexB.nodeIndex] = num3;
array6[nodeIndexB.nodeIndex] = array5[nodeIndexB.nodeIndex] + this.HeuristicCostEstimate(this.nodes[nodeIndexB.nodeIndex].position, this.nodes[nodeIndex2.nodeIndex].position);
}
}
IL_41A:
linkIndex.linkIndex++;
}
}
pathRequest.path.Clear();
pathTask.status = PathTask.TaskStatus.Complete;
return(pathTask);
}
// Token: 0x06001DE7 RID: 7655 RVA: 0x000806AC File Offset: 0x0007E8AC
public bool TestNodeLineOfSight(NodeGraph.NodeIndex nodeIndexA, NodeGraph.NodeIndex nodeIndexB)
{
return(nodeIndexA != NodeGraph.NodeIndex.invalid && nodeIndexA.nodeIndex < this.nodes.Length && nodeIndexB != NodeGraph.NodeIndex.invalid && nodeIndexB.nodeIndex < this.nodes.Length && this.nodes[nodeIndexA.nodeIndex].lineOfSightMask[nodeIndexB.nodeIndex]);
}
// Token: 0x06001DD9 RID: 7641 RVA: 0x0007FC08 File Offset: 0x0007DE08
public void SetNodes(ReadOnlyCollection <MapNode> mapNodes, ReadOnlyCollection <SerializableBitArray> lineOfSightMasks)
{
this.Clear();
Dictionary <MapNode, NodeGraph.NodeIndex> dictionary = new Dictionary <MapNode, NodeGraph.NodeIndex>();
List <NodeGraph.Node> list = new List <NodeGraph.Node>();
List <NodeGraph.Link> list2 = new List <NodeGraph.Link>();
for (int i = 0; i < mapNodes.Count; i++)
{
MapNode key = mapNodes[i];
dictionary[key] = new NodeGraph.NodeIndex(i);
}
for (int j = 0; j < mapNodes.Count; j++)
{
MapNode mapNode = mapNodes[j];
NodeGraph.NodeIndex nodeIndexA = dictionary[mapNode];
int count = list2.Count;
for (int k = 0; k < mapNode.links.Count; k++)
{
MapNode.Link link = mapNode.links[k];
if (!dictionary.ContainsKey(link.nodeB))
{
Debug.LogErrorFormat(link.nodeB, "[{0}] Node {1} was not registered.", new object[]
{
k,
link.nodeB
});
}
list2.Add(new NodeGraph.Link
{
nodeIndexA = nodeIndexA,
nodeIndexB = dictionary[link.nodeB],
distanceScore = link.distanceScore,
minJumpHeight = link.minJumpHeight,
hullMask = link.hullMask,
jumpHullMask = link.jumpHullMask,
gateIndex = this.RegisterGateName(link.gateName)
});
}
HullMask hullMask = mapNode.forbiddenHulls;
for (HullClassification hullClassification = HullClassification.Human; hullClassification < HullClassification.Count; hullClassification++)
{
bool flag = false;
int num = 1 << (int)hullClassification;
List <MapNode.Link> list3 = mapNode.links;
for (int l = 0; l < list3.Count; l++)
{
if ((list3[l].hullMask & num) != 0)
{
flag = true;
break;
}
}
if (!flag)
{
hullMask |= (HullMask)num;
}
}
list.Add(new NodeGraph.Node
{
position = mapNode.transform.position,
linkListIndex = new NodeGraph.LinkListIndex
{
index = count,
size = (uint)mapNode.links.Count
},
forbiddenHulls = hullMask,
flags = mapNode.flags,
lineOfSightMask = new SerializableBitArray(lineOfSightMasks[j]),
gateIndex = this.RegisterGateName(mapNode.gateName)
});
}
this.nodes = list.ToArray();
this.links = list2.ToArray();
}