// 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: 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);
}