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(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 = 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);
while (true)
{
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_E3A;
}
flag12 = true;
num16 += 70;
Building building = edificeGrid[num15];
if (building == null)
{
goto IL_E3A;
}
if (!PathFinder.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, "corn");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
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, "corn");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num + 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 + 1, 0, z2), 0.9f, "corn");
}
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, "corn");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
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, "corn");
}
goto IL_E3A;
}
num16 += 70;
}
if (this.BlocksDiagonalMovement(num - 1))
{
if (flag8)
{
if (flag6)
{
this.DebugFlash(new IntVec3(x2 - 1, 0, z2), 0.9f, "corn");
}
goto IL_E3A;
}
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_E3A;
}
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_E3A;
}
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_E3A;
}
}
if (flag9)
{
this.calcGrid[num15].heuristicCost = Mathf.RoundToInt((float)this.regionCostCalculator.GetPathCostFromDestToRegion(num15) * PathFinder.RegionHeuristicWeightByNodesOpened.Evaluate((float)num4));
if (this.calcGrid[num15].heuristicCost < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Heuristic cost overflow for ",
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;
if (num22 < 0)
{
Log.ErrorOnce(string.Concat(new object[]
{
"Node cost overflow for ",
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 PathFinder.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 == 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);
}
