/// <summary> /// Checks to see if the navigator can reciprocally go back and forth between a cell /// and another cell, checking only if they are immediately reachable. /// </summary> /// <param name="fromCell">The cell where the navigator is currently located.</param> /// <param name="toCell">The potential destination cell.</param> /// <param name="navGrid">The navigation grid to use for lookups.</param> /// <param name="startNavType">The navigation type to use.</param> /// <param name="abilities">The current navigator abilities.</param> /// <param name="newFlags">The flags available for this path.</param> /// <returns>true if navigation can be performed, both ways, or false otherwise.</returns> private static bool CanNavigateReciprocal(int fromCell, int toCell, NavGrid navGrid, NavType startNavType, PathFinderAbilities abilities, PathFlags flags) { var grid = PathFinder.PathGrid; bool ok = false; // Find a link from this cell to the target cell var link = FindLinkToCell(fromCell, toCell, navGrid, startNavType); if (link.link != InvalidHandle) { var endNavType = link.endNavType; var pp = new PathFinder.PotentialPath(toCell, endNavType, flags); int uwCost = grid.GetCell(toCell, endNavType, out _).underwaterCost; // Can navigate there, and has a link back? if (abilities.TraversePath(ref pp, fromCell, startNavType, link.cost, link. transitionId, uwCost) && (link = FindLinkToCell(toCell, fromCell, navGrid, endNavType)).link != InvalidHandle) { pp.cell = fromCell; pp.navType = startNavType; uwCost = grid.GetCell(fromCell, startNavType, out _).underwaterCost; ok = abilities.TraversePath(ref pp, toCell, endNavType, link.cost, link.transitionId, uwCost); } } return(ok); }
public static bool ValidatePath(NavGrid nav_grid, PathFinderAbilities abilities, ref Path path) { if (!path.IsValid()) { return(false); } for (int i = 0; i < path.nodes.Count; i++) { Path.Node node = path.nodes[i]; if (i < path.nodes.Count - 1) { Path.Node node2 = path.nodes[i + 1]; int num = node.cell * nav_grid.maxLinksPerCell; bool flag = false; NavGrid.Link link = nav_grid.Links[num]; while (link.link != InvalidHandle) { if (link.link == node2.cell && node2.navType == link.endNavType && node.navType == link.startNavType) { PotentialPath path2 = new PotentialPath(node.cell, node.navType, PotentialPath.Flags.None); flag = abilities.TraversePath(ref path2, node.cell, node.navType, 0, link.transitionId, 0); if (flag) { break; } } num++; link = nav_grid.Links[num]; } if (!flag) { return(false); } } } return(true); }
public static void AddPotentials(PotentialScratchPad potential_scratch_pad, PotentialPath potential, int cost, int underwater_cost, ref PathFinderAbilities abilities, PathFinderQuery query, int max_links_per_cell, NavGrid.Link[] links, PotentialList potentials, PathGrid path_grid, int parent_cell, NavType parent_nav_type) { int num = 0; NavGrid.Link[] linksWithCorrectNavType = potential_scratch_pad.linksWithCorrectNavType; int num2 = potential.cell * max_links_per_cell; NavGrid.Link link = links[num2]; for (int link2 = link.link; link2 != InvalidHandle; link2 = link.link) { if (link.startNavType == potential.navType && (parent_cell != link2 || parent_nav_type != link.startNavType)) { linksWithCorrectNavType[num++] = link; } num2++; link = links[num2]; } int num4 = 0; PotentialScratchPad.PathGridCellData[] linksInCellRange = potential_scratch_pad.linksInCellRange; for (int i = 0; i < num; i++) { NavGrid.Link link3 = linksWithCorrectNavType[i]; int link4 = link3.link; bool is_cell_in_range = false; Cell cell = path_grid.GetCell(link4, link3.endNavType, out is_cell_in_range); if (is_cell_in_range) { int num5 = cost + link3.cost; bool flag = cell.cost == -1; bool flag2 = num5 < cell.cost; if (flag || flag2) { linksInCellRange[num4++] = new PotentialScratchPad.PathGridCellData { pathGridCell = cell, link = link3 }; } } } for (int j = 0; j < num4; j++) { PotentialScratchPad.PathGridCellData pathGridCellData = linksInCellRange[j]; NavGrid.Link link5 = pathGridCellData.link; int link6 = link5.link; pathGridCellData.isSubmerged = IsSubmerged(link6); linksInCellRange[j] = pathGridCellData; } for (int k = 0; k < num4; k++) { PotentialScratchPad.PathGridCellData pathGridCellData2 = linksInCellRange[k]; NavGrid.Link link7 = pathGridCellData2.link; int link8 = link7.link; Cell cell_data = pathGridCellData2.pathGridCell; int num7 = cost + link7.cost; PotentialPath path = potential; path.cell = link8; path.navType = link7.endNavType; int underwater_cost2; if (pathGridCellData2.isSubmerged) { underwater_cost2 = underwater_cost + 1; int submergedPathCostPenalty = abilities.GetSubmergedPathCostPenalty(path, link7); num7 += submergedPathCostPenalty; } else { underwater_cost2 = 0; } PotentialPath.Flags flags = path.flags; bool flag3 = abilities.TraversePath(ref path, potential.cell, potential.navType, num7, link7.transitionId, underwater_cost2); if (path.flags != flags) { KProfiler.AddEvent("NavChange"); } if (flag3) { AddPotential(path, potential.cell, potential.navType, num7, underwater_cost2, link7.transitionId, potentials, path_grid, ref cell_data); } } }