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Decompiled source of CartPilot v0.1.9
CartPilot.dll
Decompiled 2 hours ago
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using System; using System.Collections.Generic; using System.Diagnostics; using System.IO; using System.Reflection; using System.Runtime.CompilerServices; using System.Runtime.Versioning; using System.Security; using System.Security.Permissions; using System.Text; using BepInEx; using BepInEx.Configuration; using BepInEx.Logging; using HarmonyLib; using Microsoft.CodeAnalysis; using Photon.Pun; using Photon.Realtime; using Unity.AI.Navigation; using UnityEngine; using UnityEngine.AI; using UnityEngine.InputSystem; using UnityEngine.InputSystem.Controls; [assembly: CompilationRelaxations(8)] [assembly: RuntimeCompatibility(WrapNonExceptionThrows = true)] [assembly: Debuggable(DebuggableAttribute.DebuggingModes.IgnoreSymbolStoreSequencePoints)] [assembly: IgnoresAccessChecksTo("Assembly-CSharp")] [assembly: TargetFramework(".NETStandard,Version=v2.1", FrameworkDisplayName = ".NET Standard 2.1")] [assembly: AssemblyCompany("CartPilot")] [assembly: AssemblyConfiguration("Release")] [assembly: AssemblyFileVersion("1.0.0.0")] [assembly: AssemblyInformationalVersion("1.0.0")] [assembly: AssemblyProduct("CartPilot")] [assembly: AssemblyTitle("CartPilot")] [assembly: SecurityPermission(SecurityAction.RequestMinimum, SkipVerification = true)] [assembly: AssemblyVersion("1.0.0.0")] [module: UnverifiableCode] [module: RefSafetyRules(11)] namespace Microsoft.CodeAnalysis { [CompilerGenerated] [Embedded] internal sealed class EmbeddedAttribute : Attribute { } } namespace System.Runtime.CompilerServices { [CompilerGenerated] [Embedded] [AttributeUsage(AttributeTargets.Module, AllowMultiple = false, Inherited = false)] internal sealed class RefSafetyRulesAttribute : Attribute { public readonly int Version; public RefSafetyRulesAttribute(int P_0) { Version = P_0; } } } namespace CartPilot { internal static class CartNavMesh { private class Layer { public string Name; public int AgentTypeId = -1; public float Radius; public NavMeshData Data; public NavMeshDataInstance Instance; public AsyncOperation Op; } private struct BlockedArea { public Vector3 Pos; public float Radius; public float Expires; } private struct Gap { public Vector3 A; public Vector3 B; public Vector3 Out; } internal readonly struct Scope : IDisposable { private readonly bool active; internal Scope(bool _) { //IL_0037: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_006b: Unknown result type (might be due to invalid IL or missing references) //IL_0071: Unknown result type (might be due to invalid IL or missing references) //IL_0072: Unknown result type (might be due to invalid IL or missing references) active = Ready; if (!active || useDepth++ > 0) { return; } Layer[] layers = Layers; foreach (Layer obj in layers) { obj.Instance = NavMesh.AddNavMeshData(obj.Data); } if (!linksResolved) { ResolveLinks(); } foreach (NavMeshLinkData linkDatum in LinkData) { LinkInstances.Add(NavMesh.AddLink(linkDatum)); } } public void Dispose() { //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_002d: Unknown result type (might be due to invalid IL or missing references) if (!active || --useDepth > 0) { return; } foreach (NavMeshLinkInstance linkInstance in LinkInstances) { NavMeshLinkInstance current = linkInstance; ((NavMeshLinkInstance)(ref current)).Remove(); } LinkInstances.Clear(); Layer[] layers = Layers; for (int i = 0; i < layers.Length; i++) { ((NavMeshDataInstance)(ref layers[i].Instance)).Remove(); } } } private static readonly Layer Comfortable = new Layer { Name = "comfortable" }; private static readonly Layer Tight = new Layer { Name = "tight" }; private static readonly Layer Squeeze = new Layer { Name = "squeeze" }; private static readonly Layer[] Layers = new Layer[3] { Comfortable, Tight, Squeeze }; private static readonly List<BlockedArea> Blocked = new List<BlockedArea>(); private static NavMeshData bakedFromGameData; private static float bakedRadius = -1f; private static float bakedExtra = -1f; private static int useDepth; private static readonly Func<NavMeshSurface, List<NavMeshBuildSource>> CollectSources = AccessTools.MethodDelegate<Func<NavMeshSurface, List<NavMeshBuildSource>>>(AccessTools.Method(typeof(NavMeshSurface), "CollectSources", (Type[])null, (Type[])null), (object)null, true); private static readonly Func<NavMeshSurface, List<NavMeshBuildSource>, Bounds> CalculateWorldBounds = AccessTools.MethodDelegate<Func<NavMeshSurface, List<NavMeshBuildSource>, Bounds>>(AccessTools.Method(typeof(NavMeshSurface), "CalculateWorldBounds", (Type[])null, (Type[])null), (object)null, true); private static readonly List<Gap> Gaps = new List<Gap>(); private static NavMeshData gapsFromGameData; private static float gapsMax = -1f; private static readonly List<NavMeshLinkData> LinkData = new List<NavMeshLinkData>(); private static readonly List<NavMeshLinkInstance> LinkInstances = new List<NavMeshLinkInstance>(); private static readonly NavMeshPath LinkCheck = new NavMeshPath(); private static bool linksResolved; private static bool pendingRebuild; private static List<NavMeshBuildSource> baseSources; private static Bounds baseBounds; internal static bool Busy => Array.Exists(Layers, (Layer l) => IsRunning(l.Op)); internal static bool Ready { get { if (!Busy) { return Array.TrueForAll(Layers, (Layer l) => (Object)(object)l.Data != (Object)null); } return false; } } internal static NavMeshQueryFilter ComfortableFilter => Filter(Comfortable); internal static NavMeshQueryFilter TightFilter => Filter(Tight); internal static NavMeshQueryFilter SqueezeFilter => Filter(Squeeze); internal static NavMeshQueryFilter GameFilter { get { //IL_0008: Unknown result type (might be due to invalid IL or missing references) //IL_002f: Unknown result type (might be due to invalid IL or missing references) NavMeshSurface val = GameSurface(); NavMeshQueryFilter result = default(NavMeshQueryFilter); ((NavMeshQueryFilter)(ref result)).agentTypeID = (((Object)(object)val != (Object)null) ? val.agentTypeID : 0); ((NavMeshQueryFilter)(ref result)).areaMask = -1; return result; } } internal static float TightRadius => Tight.Radius; private static NavMeshQueryFilter Filter(Layer l) { //IL_0002: Unknown result type (might be due to invalid IL or missing references) //IL_001d: Unknown result type (might be due to invalid IL or missing references) NavMeshQueryFilter result = default(NavMeshQueryFilter); ((NavMeshQueryFilter)(ref result)).agentTypeID = l.AgentTypeId; ((NavMeshQueryFilter)(ref result)).areaMask = -1; return result; } private static bool IsRunning(AsyncOperation op) { if (op != null) { return !op.isDone; } return false; } internal static bool EnsureBaked(float radius, float maxGap) { //IL_00fd: Unknown result type (might be due to invalid IL or missing references) //IL_0103: Invalid comparison between Unknown and I4 //IL_0118: Unknown result type (might be due to invalid IL or missing references) //IL_011e: Unknown result type (might be due to invalid IL or missing references) //IL_012e: Unknown result type (might be due to invalid IL or missing references) //IL_013e: Unknown result type (might be due to invalid IL or missing references) //IL_014d: Unknown result type (might be due to invalid IL or missing references) //IL_0152: Unknown result type (might be due to invalid IL or missing references) //IL_0110: Unknown result type (might be due to invalid IL or missing references) //IL_0157: Unknown result type (might be due to invalid IL or missing references) NavMeshSurface val = GameSurface(); if ((Object)(object)val == (Object)null || (Object)(object)val.navMeshData == (Object)null) { return false; } float value = Cfg.PreferredExtraClearance.Value; if (((Object)(object)val.navMeshData != (Object)(object)bakedFromGameData || !Mathf.Approximately(radius, bakedRadius) || !Mathf.Approximately(value, bakedExtra)) && !Busy) { if ((Object)(object)val.navMeshData != (Object)(object)bakedFromGameData) { Blocked.Clear(); } bakedFromGameData = val.navMeshData; bakedRadius = radius; bakedExtra = value; Comfortable.Radius = radius + value; Tight.Radius = radius; Squeeze.Radius = Mathf.Max(0.25f, radius * 0.5f); Layer[] layers = Layers; for (int i = 0; i < layers.Length; i++) { layers[i].Data = null; } baseSources = CollectSources(val); baseBounds = (Bounds)(((int)val.collectObjects == 1) ? new Bounds(val.center, new Vector3(Mathf.Abs(val.size.x), Mathf.Abs(val.size.y), Mathf.Abs(val.size.z))) : CalculateWorldBounds(val, baseSources)); Rebuild(val); Plugin.Log.LogInfo((object)$"Baking cart NavMesh (tight r={Tight.Radius:F2}, comfortable r={Comfortable.Radius:F2})..."); return false; } if (Ready && useDepth == 0 && ((Object)(object)gapsFromGameData != (Object)(object)bakedFromGameData || !Mathf.Approximately(maxGap, gapsMax))) { gapsFromGameData = bakedFromGameData; gapsMax = maxGap; FindGaps(maxGap); } return Ready; } private static Vector3Int Key(Vector3 p) { //IL_0000: Unknown result type (might be due to invalid IL or missing references) //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) return Vector3Int.RoundToInt(p * 50f); } private static bool FloorAt(Vector3 p, float y, out float hitY) { //IL_0007: Unknown result type (might be due to invalid IL or missing references) //IL_0014: Unknown result type (might be due to invalid IL or missing references) //IL_001a: Unknown result type (might be due to invalid IL or missing references) //IL_001f: Unknown result type (might be due to invalid IL or missing references) //IL_003d: Unknown result type (might be due to invalid IL or missing references) hitY = 0f; RaycastHit val = default(RaycastHit); if (!Physics.Raycast(new Vector3(p.x, y + 0.5f, p.z), Vector3.down, ref val, 0.8f, PathPlanner.WorldMask, (QueryTriggerInteraction)1)) { return false; } hitY = ((RaycastHit)(ref val)).point.y; return true; } private static void FindGaps(float maxGap) { //IL_0023: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_006d: Unknown result type (might be due to invalid IL or missing references) //IL_0072: Unknown result type (might be due to invalid IL or missing references) //IL_0077: Unknown result type (might be due to invalid IL or missing references) //IL_007c: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) //IL_0086: Unknown result type (might be due to invalid IL or missing references) //IL_019d: Unknown result type (might be due to invalid IL or missing references) //IL_01a2: Unknown result type (might be due to invalid IL or missing references) //IL_01a7: Unknown result type (might be due to invalid IL or missing references) //IL_01ac: Unknown result type (might be due to invalid IL or missing references) //IL_01ae: Unknown result type (might be due to invalid IL or missing references) //IL_01b3: Unknown result type (might be due to invalid IL or missing references) //IL_01b8: Unknown result type (might be due to invalid IL or missing references) //IL_00f1: Unknown result type (might be due to invalid IL or missing references) //IL_00f3: Unknown result type (might be due to invalid IL or missing references) //IL_00e6: Unknown result type (might be due to invalid IL or missing references) //IL_00e8: Unknown result type (might be due to invalid IL or missing references) //IL_01cf: Unknown result type (might be due to invalid IL or missing references) //IL_01d3: Unknown result type (might be due to invalid IL or missing references) //IL_01d8: Unknown result type (might be due to invalid IL or missing references) //IL_01da: Unknown result type (might be due to invalid IL or missing references) //IL_01df: Unknown result type (might be due to invalid IL or missing references) //IL_01e1: Unknown result type (might be due to invalid IL or missing references) //IL_01e6: Unknown result type (might be due to invalid IL or missing references) //IL_01e8: Unknown result type (might be due to invalid IL or missing references) //IL_01ed: Unknown result type (might be due to invalid IL or missing references) //IL_01f2: Unknown result type (might be due to invalid IL or missing references) //IL_01f4: Unknown result type (might be due to invalid IL or missing references) //IL_01f9: Unknown result type (might be due to invalid IL or missing references) //IL_020a: Unknown result type (might be due to invalid IL or missing references) //IL_020c: Unknown result type (might be due to invalid IL or missing references) //IL_0211: Unknown result type (might be due to invalid IL or missing references) //IL_0468: Unknown result type (might be due to invalid IL or missing references) //IL_0474: Unknown result type (might be due to invalid IL or missing references) //IL_0480: Unknown result type (might be due to invalid IL or missing references) //IL_0487: Unknown result type (might be due to invalid IL or missing references) //IL_048c: Unknown result type (might be due to invalid IL or missing references) //IL_0491: Unknown result type (might be due to invalid IL or missing references) //IL_0496: Unknown result type (might be due to invalid IL or missing references) //IL_0233: Unknown result type (might be due to invalid IL or missing references) //IL_0235: Unknown result type (might be due to invalid IL or missing references) //IL_0239: Unknown result type (might be due to invalid IL or missing references) //IL_023e: Unknown result type (might be due to invalid IL or missing references) //IL_0243: Unknown result type (might be due to invalid IL or missing references) //IL_0245: Unknown result type (might be due to invalid IL or missing references) //IL_0247: Unknown result type (might be due to invalid IL or missing references) //IL_024e: Unknown result type (might be due to invalid IL or missing references) //IL_0253: Unknown result type (might be due to invalid IL or missing references) //IL_0258: Unknown result type (might be due to invalid IL or missing references) //IL_0282: Unknown result type (might be due to invalid IL or missing references) //IL_0284: Unknown result type (might be due to invalid IL or missing references) //IL_0288: Unknown result type (might be due to invalid IL or missing references) //IL_028d: Unknown result type (might be due to invalid IL or missing references) //IL_0292: Unknown result type (might be due to invalid IL or missing references) //IL_02a4: Unknown result type (might be due to invalid IL or missing references) //IL_0318: Unknown result type (might be due to invalid IL or missing references) //IL_031a: Unknown result type (might be due to invalid IL or missing references) //IL_032e: Unknown result type (might be due to invalid IL or missing references) //IL_0333: Unknown result type (might be due to invalid IL or missing references) //IL_0338: Unknown result type (might be due to invalid IL or missing references) //IL_033a: Unknown result type (might be due to invalid IL or missing references) //IL_033c: Unknown result type (might be due to invalid IL or missing references) //IL_0340: Unknown result type (might be due to invalid IL or missing references) //IL_0345: Unknown result type (might be due to invalid IL or missing references) //IL_034a: Unknown result type (might be due to invalid IL or missing references) //IL_034c: Unknown result type (might be due to invalid IL or missing references) //IL_034e: Unknown result type (might be due to invalid IL or missing references) //IL_0358: Unknown result type (might be due to invalid IL or missing references) //IL_035d: Unknown result type (might be due to invalid IL or missing references) //IL_0362: Unknown result type (might be due to invalid IL or missing references) //IL_0364: Unknown result type (might be due to invalid IL or missing references) //IL_036b: Unknown result type (might be due to invalid IL or missing references) //IL_0370: Unknown result type (might be due to invalid IL or missing references) //IL_0375: Unknown result type (might be due to invalid IL or missing references) //IL_037f: Unknown result type (might be due to invalid IL or missing references) //IL_0384: Unknown result type (might be due to invalid IL or missing references) //IL_0398: Unknown result type (might be due to invalid IL or missing references) //IL_039a: Unknown result type (might be due to invalid IL or missing references) //IL_039c: Unknown result type (might be due to invalid IL or missing references) //IL_03a6: Unknown result type (might be due to invalid IL or missing references) //IL_03ab: Unknown result type (might be due to invalid IL or missing references) //IL_03d8: Unknown result type (might be due to invalid IL or missing references) //IL_03da: Unknown result type (might be due to invalid IL or missing references) //IL_03e1: Unknown result type (might be due to invalid IL or missing references) //IL_03e3: Unknown result type (might be due to invalid IL or missing references) //IL_03ea: Unknown result type (might be due to invalid IL or missing references) //IL_03ec: Unknown result type (might be due to invalid IL or missing references) Gaps.Clear(); LinkData.Clear(); linksResolved = false; if (maxGap < 0.2f) { return; } NavMeshTriangulation val = NavMesh.CalculateTriangulation(); Vector3[] vertices = val.vertices; int[] indices = val.indices; Dictionary<(Vector3Int, Vector3Int), (int, int, int, int)> dictionary = new Dictionary<(Vector3Int, Vector3Int), (int, int, int, int)>(); for (int i = 0; i + 2 < indices.Length; i += 3) { for (int j = 0; j < 3; j++) { int num = indices[i + j]; int num2 = indices[i + (j + 1) % 3]; int item = indices[i + (j + 2) % 3]; Vector3Int val2 = Key(vertices[num]); Vector3Int val3 = Key(vertices[num2]); (Vector3Int, Vector3Int) key = ((((Vector3Int)(ref val2)).x > ((Vector3Int)(ref val3)).x || (((Vector3Int)(ref val2)).x == ((Vector3Int)(ref val3)).x && (((Vector3Int)(ref val2)).y > ((Vector3Int)(ref val3)).y || (((Vector3Int)(ref val2)).y == ((Vector3Int)(ref val3)).y && ((Vector3Int)(ref val2)).z > ((Vector3Int)(ref val3)).z)))) ? (val3, val2) : (val2, val3)); dictionary[key] = (dictionary.TryGetValue(key, out var value) ? (value.Item1, value.Item2, value.Item3, value.Item4 + 1) : (num, num2, item, 1)); } } foreach (var value2 in dictionary.Values) { var (num3, num4, num5, _) = value2; if (value2.Item4 != 1) { continue; } Vector3 val4 = vertices[num3]; Vector3 val5 = PathPlanner.Flat(vertices[num4] - val4); float magnitude = ((Vector3)(ref val5)).magnitude; if (magnitude < 0.05f) { continue; } val5 /= magnitude; Vector3 val6 = Vector3.Cross(Vector3.up, val5); if (Vector3.Dot(val6, PathPlanner.Flat(vertices[num5] - val4)) > 0f) { val6 = -val6; } for (float num6 = Mathf.Min(0.5f, magnitude * 0.5f); num6 < magnitude; num6 += 1f) { Vector3 val7 = val4 + val5 * num6; if (FloorAt(val7 + val6 * 0.7f, val7.y, out var _)) { continue; } float num7 = -1f; float num8 = -1f; for (float num9 = 0f; num9 <= 0.7f + maxGap + 0.2f; num9 += 0.1f) { float hitY2; bool flag = FloorAt(val7 + val6 * num9, val7.y, out hitY2) && Mathf.Abs(hitY2 - val7.y) < 0.2f; if (num7 < 0f) { if (!flag) { num7 = num9; } } else if (flag) { num8 = num9; break; } } if (num7 < 0f || num8 < 0f || num8 - num7 > maxGap) { continue; } Vector3 val8 = val7 + val6 * Mathf.Max(0f, num7 - 0.1f); Vector3 val9 = val7 + val6 * num8; if (!Physics.Linecast(val8 + Vector3.up * 0.4f, val9 + val6 * 0.3f + Vector3.up * 0.4f, PathPlanner.WorldMask, (QueryTriggerInteraction)1)) { Vector3 mid = (val8 + val9) * 0.5f; if (!Gaps.Exists(delegate(Gap g) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_0007: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_001c: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_0026: Unknown result type (might be due to invalid IL or missing references) Vector3 val11 = (g.A + g.B) * 0.5f - mid; return ((Vector3)(ref val11)).sqrMagnitude < 0.64000005f; })) { Gaps.Add(new Gap { A = val8, B = val9, Out = val6 }); } } } } Plugin.Log.LogInfo((object)$"Small floor gaps the cart can roll over: {Gaps.Count}"); foreach (Gap gap in Gaps) { object arg = gap.A; object arg2 = gap.B; Vector3 val10 = PathPlanner.Flat(gap.B - gap.A); PathPlanner.Verbose($"Gap {arg} -> {arg2} ({((Vector3)(ref val10)).magnitude:F2}m)"); } } private static void ResolveLinks() { //IL_0022: Unknown result type (might be due to invalid IL or missing references) //IL_0027: Unknown result type (might be due to invalid IL or missing references) //IL_0044: Unknown result type (might be due to invalid IL or missing references) //IL_004b: Unknown result type (might be due to invalid IL or missing references) //IL_005c: Unknown result type (might be due to invalid IL or missing references) //IL_0061: Unknown result type (might be due to invalid IL or missing references) //IL_006d: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) //IL_0092: Unknown result type (might be due to invalid IL or missing references) //IL_0097: Unknown result type (might be due to invalid IL or missing references) //IL_00a3: Unknown result type (might be due to invalid IL or missing references) //IL_00b0: Unknown result type (might be due to invalid IL or missing references) //IL_00b7: Unknown result type (might be due to invalid IL or missing references) //IL_00bc: Unknown result type (might be due to invalid IL or missing references) //IL_00f7: Unknown result type (might be due to invalid IL or missing references) //IL_0101: Unknown result type (might be due to invalid IL or missing references) //IL_010f: Unknown result type (might be due to invalid IL or missing references) //IL_014e: Unknown result type (might be due to invalid IL or missing references) //IL_00ce: Unknown result type (might be due to invalid IL or missing references) linksResolved = true; LinkData.Clear(); Layer[] layers = Layers; NavMeshHit val2 = default(NavMeshHit); NavMeshHit val3 = default(NavMeshHit); foreach (Layer layer in layers) { NavMeshQueryFilter val = Filter(layer); foreach (Gap gap in Gaps) { if (NavMesh.SamplePosition(gap.A - gap.Out * (layer.Radius + 0.2f), ref val2, 0.5f, val) && NavMesh.SamplePosition(gap.B + gap.Out * (layer.Radius + 0.2f), ref val3, 0.5f, val) && (!NavMesh.CalculatePath(((NavMeshHit)(ref val2)).position, ((NavMeshHit)(ref val3)).position, val, LinkCheck) || (int)LinkCheck.status != 0 || !(PathPlanner.Length(new List<Vector3>(LinkCheck.corners)) < 6f))) { List<NavMeshLinkData> linkData = LinkData; NavMeshLinkData item = default(NavMeshLinkData); ((NavMeshLinkData)(ref item)).startPosition = ((NavMeshHit)(ref val2)).position; ((NavMeshLinkData)(ref item)).endPosition = ((NavMeshHit)(ref val3)).position; ((NavMeshLinkData)(ref item)).width = 0f; ((NavMeshLinkData)(ref item)).bidirectional = true; ((NavMeshLinkData)(ref item)).costModifier = -1f; ((NavMeshLinkData)(ref item)).area = 0; ((NavMeshLinkData)(ref item)).agentTypeID = layer.AgentTypeId; linkData.Add(item); } } } Plugin.Log.LogInfo((object)$"Gap links on cart meshes: {LinkData.Count}"); } internal static void AddBlockedArea(Vector3 pos, float radius) { //IL_000f: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0044: Unknown result type (might be due to invalid IL or missing references) Blocked.Add(new BlockedArea { Pos = pos, Radius = radius, Expires = Time.time + Cfg.BlockedAreaLifetime.Value }); Plugin.Log.LogInfo((object)$"Blocked area at {pos} r={radius:F1} for {Cfg.BlockedAreaLifetime.Value:F0}s"); pendingRebuild = true; Tick(); } internal static void Tick() { if (Blocked.RemoveAll((BlockedArea b) => b.Expires < Time.time) > 0) { pendingRebuild = true; } if (pendingRebuild && Ready) { NavMeshSurface val = GameSurface(); if (!((Object)(object)val == (Object)null)) { pendingRebuild = false; Rebuild(val); } } } internal static float RadiusOf(NavMeshQueryFilter f) { //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) if (((NavMeshQueryFilter)(ref f)).agentTypeID != Comfortable.AgentTypeId) { if (((NavMeshQueryFilter)(ref f)).agentTypeID != Squeeze.AgentTypeId) { if (((NavMeshQueryFilter)(ref f)).agentTypeID != Tight.AgentTypeId) { NavMeshBuildSettings settingsByID = NavMesh.GetSettingsByID(((NavMeshQueryFilter)(ref f)).agentTypeID); return ((NavMeshBuildSettings)(ref settingsByID)).agentRadius; } return Tight.Radius; } return Squeeze.Radius; } return Comfortable.Radius; } private static void Rebuild(NavMeshSurface surface) { //IL_0023: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0074: Unknown result type (might be due to invalid IL or missing references) //IL_0094: Unknown result type (might be due to invalid IL or missing references) //IL_0099: Unknown result type (might be due to invalid IL or missing references) //IL_00d0: Unknown result type (might be due to invalid IL or missing references) //IL_00d5: Unknown result type (might be due to invalid IL or missing references) //IL_00bc: Unknown result type (might be due to invalid IL or missing references) //IL_00c1: Unknown result type (might be due to invalid IL or missing references) //IL_0140: Unknown result type (might be due to invalid IL or missing references) //IL_0143: Unknown result type (might be due to invalid IL or missing references) //IL_010b: Unknown result type (might be due to invalid IL or missing references) //IL_0110: Unknown result type (might be due to invalid IL or missing references) //IL_0117: Unknown result type (might be due to invalid IL or missing references) //IL_0121: Unknown result type (might be due to invalid IL or missing references) //IL_0128: Unknown result type (might be due to invalid IL or missing references) //IL_0137: Expected O, but got Unknown List<NavMeshBuildSource> list = new List<NavMeshBuildSource>(baseSources); foreach (BlockedArea item2 in Blocked) { NavMeshBuildSource item = default(NavMeshBuildSource); ((NavMeshBuildSource)(ref item)).shape = (NavMeshBuildSourceShape)5; ((NavMeshBuildSource)(ref item)).transform = Matrix4x4.Translate(item2.Pos); ((NavMeshBuildSource)(ref item)).size = new Vector3(item2.Radius * 2f, 4f, item2.Radius * 2f); ((NavMeshBuildSource)(ref item)).area = 1; list.Add(item); } Bounds val = baseBounds; Layer[] layers = Layers; foreach (Layer layer in layers) { if (layer.AgentTypeId < 0) { NavMeshBuildSettings val2 = NavMesh.CreateSettings(); layer.AgentTypeId = ((NavMeshBuildSettings)(ref val2)).agentTypeID; } NavMeshBuildSettings buildSettings = surface.GetBuildSettings(); ((NavMeshBuildSettings)(ref buildSettings)).agentTypeID = layer.AgentTypeId; ((NavMeshBuildSettings)(ref buildSettings)).agentRadius = layer.Radius; if ((Object)(object)layer.Data == (Object)null) { layer.Data = new NavMeshData(layer.AgentTypeId) { position = ((Component)surface).transform.position, rotation = ((Component)surface).transform.rotation }; } layer.Op = NavMeshBuilder.UpdateNavMeshDataAsync(layer.Data, buildSettings, list, val); } } private static NavMeshSurface GameSurface() { LevelGenerator instance = LevelGenerator.Instance; if (!((Object)(object)instance != (Object)null) || !instance.Generated) { return null; } return ((Component)instance).GetComponent<NavMeshSurface>(); } internal static Scope Use() { return new Scope(_: true); } } internal class CartPilotController : MonoBehaviourPun { private enum State { Idle, WaitMesh, Driving, Yielding, Reversing, Recovering } private enum HudState : byte { Hidden, Driving, Arrived, NoPath } internal static readonly List<CartPilotController> All = new List<CartPilotController>(); private PhysGrabCart cart; private Rigidbody rb; internal CartShape Shape; private float lastDrivingTime = -999f; private Player commander; private string notice; private float noticeUntil; private State state; private Vector3 goal; private Transform follow; private float arriveDistance; private int rejectedRoutes; private float failTime = -10f; private Vector3 failGoal; private Vector3 failPos; private ExtractionPoint extraction; private bool extractionInside; private bool extractionStayOutside; private List<Waypoint> path; private int seg; private float segT; private float offPath; private bool facingBack; private float lastPlanTime; private float followCheckTimer; private PathDebugDraw debug; private float yawCmd; private float hudTotal = -1f; private float hudRemaining; private float hudSendTime; private HudState hud; private float hudProgress; private float hudShown; private float hudMeters; private float hudUntil; private static readonly Color HudPanel = new Color(0.05f, 0.05f, 0.07f, 0.55f); private static readonly Color HudTrack = new Color(1f, 1f, 1f, 0.15f); private static readonly Color HudCart = new Color(1f, 0.6f, 0.15f); private static readonly Color HudOk = new Color(0.35f, 0.85f, 0.45f); private static readonly Color HudFail = new Color(0.95f, 0.3f, 0.3f); private static GUIStyle hudLabel; private static readonly int BlockerMask = LayerMask.GetMask(new string[4] { "Enemy", "Player", "PhysGrabObject", "PhysGrabObjectCart" }); private static readonly RaycastHit[] Hits = (RaycastHit[])(object)new RaycastHit[32]; private static readonly Collider[] Overlaps = (Collider[])(object)new Collider[32]; private const float ProbeLift = 0.3f; private Vector3 blockerPos; private float yieldTimer; private float clearTimer; private Vector3 reverseTarget; private float reverseTimer; private int committedChoke = -1; private float commandedSpeed; private Vector3 stuckRef; private float stuckTimer; private Vector3 lastStuckPos; private float lastStuckTime = -999f; private bool goalBlockNotified; private bool stuckRepeat; private Vector3 recoverDir; private float recoverTimer; private const float ScanInterval = 0.25f; private const float ScanRange = 15f; private float aheadScanTimer; private float aheadBlockedFor; private static readonly int FloorMask = LayerMask.GetMask(new string[3] { "Default", "NavmeshOnly", "PlayerOnlyCollision" }); private const float MaxDrop = 1f; private static readonly int DoorSearchMask = LayerMask.GetMask(new string[2] { "PhysGrabObjectHinge", "PhysGrabObject" }); private Destination lastDest; private float diagTickTimer; private static readonly int WallMask = LayerMask.GetMask(new string[1] { "Default" }); private int cargoCount; private float cargoValue; private float cargoLogCooldown; private float cargoSeen; private readonly List<PhysGrabObject> cargoBefore = new List<PhysGrabObject>(); private float hitLogCooldown; private float CartRadius => ((Cfg.CartRadius.Value > 0f) ? Cfg.CartRadius.Value : Shape.HalfWidth) + Cfg.ClearanceMargin.Value; private float MaxGap => Shape.HalfLength * 0.9f; private void Awake() { cart = ((Component)this).GetComponent<PhysGrabCart>(); rb = ((Component)this).GetComponent<Rigidbody>(); } private void Start() { Shape = CartShape.Measure(rb); Plugin.Log.LogInfo((object)$"Cart '{((Object)this).name}' measured: {Shape}"); Diag("spawn", ""); } private void OnEnable() { All.Add(this); } private void OnDisable() { All.Remove(this); } internal static bool CarryingWhileDriving(Vector3 pos) { //IL_0049: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0074: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) foreach (CartPilotController item in All) { if (!(Time.time - item.lastDrivingTime > 2f) && !((Object)(object)item.cart.inCart == (Object)null)) { Vector3 val = item.cart.inCart.InverseTransformPoint(pos); if (Mathf.Abs(val.x) < 0.6f && Mathf.Abs(val.z) < 0.6f && val.y > -0.6f && val.y < 1.5f) { return true; } } } return false; } internal static CartPilotController Nearest(Vector3 pos) { //IL_0023: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) CartPilotController result = null; float num = float.MaxValue; foreach (CartPilotController item in All) { Vector3 val = ((Component)item).transform.position - pos; float sqrMagnitude = ((Vector3)(ref val)).sqrMagnitude; if (sqrMagnitude < num) { num = sqrMagnitude; result = item; } } return result; } internal void SendCommand(Destination dest, Vector3 playerPos) { //IL_0036: Unknown result type (might be due to invalid IL or missing references) //IL_0009: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0012: Unknown result type (might be due to invalid IL or missing references) if (SemiFunc.IsMasterClientOrSingleplayer()) { CartPilotGoToRPC((int)dest, playerPos); return; } ((MonoBehaviourPun)this).photonView.RPC("CartPilotGoToRPC", (RpcTarget)2, new object[2] { (int)dest, playerPos }); } [PunRPC] private void CartPilotGoToRPC(int dest, Vector3 playerPos, PhotonMessageInfo info = default(PhotonMessageInfo)) { //IL_003b: Unknown result type (might be due to invalid IL or missing references) //IL_0048: Unknown result type (might be due to invalid IL or missing references) if (SemiFunc.IsMasterClientOrSingleplayer()) { if (!Enum.IsDefined(typeof(Destination), dest)) { Plugin.Log.LogWarning((object)$"Ignoring unknown destination {dest} from client."); return; } commander = info.Sender; GoTo((Destination)dest, playerPos); } } private void Notify(string message) { Plugin.Log.LogWarning((object)("Cart '" + ((Object)this).name + "': " + message)); Diag("FAIL", message); if (commander == null || commander.IsLocal) { CartPilotNotifyRPC(message); return; } ((MonoBehaviourPun)this).photonView.RPC("CartPilotNotifyRPC", commander, new object[1] { message }); } [PunRPC] private void CartPilotNotifyRPC(string message) { notice = "Cart: " + message; noticeUntil = Time.time + 3f; } private void Update() { //IL_0025: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) if (notice != null && Time.time < noticeUntil) { SemiFunc.UIBigMessage(notice, "{:O}", 20f, Color.white, new Color(1f, 0.55f, 0f)); } } private void GoTo(Destination dest, Vector3 playerPos) { //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_0135: Unknown result type (might be due to invalid IL or missing references) //IL_00c7: Unknown result type (might be due to invalid IL or missing references) //IL_00cd: Unknown result type (might be due to invalid IL or missing references) //IL_00d2: Unknown result type (might be due to invalid IL or missing references) //IL_00d7: Unknown result type (might be due to invalid IL or missing references) //IL_00ec: Unknown result type (might be due to invalid IL or missing references) //IL_00f2: Unknown result type (might be due to invalid IL or missing references) //IL_00f7: Unknown result type (might be due to invalid IL or missing references) //IL_00fc: Unknown result type (might be due to invalid IL or missing references) lastDest = dest; Diag("command", string.Format("{0} by {1}", dest, (commander == null) ? "host" : commander.NickName)); if (BeingHandled()) { Notify("someone is holding me"); return; } HudReset(); extraction = null; extractionInside = false; if (!ResolveDestination(dest, playerPos, out goal, out follow)) { Notify((dest == Destination.Extraction || dest == Destination.ExtractionOpen) ? "no extraction point available" : ("can't find the " + dest.ToString().ToLower())); HudSend(HudState.NoPath); return; } if (Time.time - failTime < 3f) { Vector3 val = goal - failGoal; if (((Vector3)(ref val)).magnitude < 1f) { val = ((Component)this).transform.position - failPos; if (((Vector3)(ref val)).magnitude < 0.5f) { Notify("still no way there"); HudSend(HudState.NoPath); return; } } } Plugin.Log.LogInfo((object)$"Cart '{((Object)this).name}' -> {dest} at {goal}"); arriveDistance = (((Object)(object)follow != (Object)null) ? (Shape.HalfLength + 1.2f) : 0.8f); rejectedRoutes = 0; SetState(State.WaitMesh); } private void SetState(State s) { if (s != state) { PathPlanner.Verbose($"Cart '{((Object)this).name}': {state} -> {s}"); Diag("state", $"{state}->{s}"); } if (s == State.Idle != (state == State.Idle)) { SetSlippery(s != State.Idle); } state = s; } private void SetSlippery(bool on) { //IL_0009: Unknown result type (might be due to invalid IL or missing references) if (!on && (int)cart.currentState != 0) { return; } foreach (Collider capsuleCollider in cart.capsuleColliders) { capsuleCollider.material = (on ? cart.physMaterialSlippery : cart.physMaterialNormal); } foreach (Collider item in cart.cartInside) { item.material = (on ? SemiFunc.PhysicMaterialPhysGrabObject() : cart.physMaterialNormal); } } private void OnDestroy() { debug?.Destroy(); } private void FixedUpdate() { if (!SemiFunc.IsMasterClientOrSingleplayer()) { return; } CartNavMesh.Tick(); if (state == State.Idle) { return; } lastDrivingTime = Time.time; DiagTick(); HudTick(); if (BeingHandled()) { Plugin.Log.LogInfo((object)"Player took the cart, stopping."); Stop(HudState.Hidden); return; } switch (state) { case State.WaitMesh: if (CartNavMesh.EnsureBaked(CartRadius, MaxGap)) { Replan(); } break; case State.Driving: Drive(); break; case State.Yielding: Yield(); break; case State.Reversing: Reverse(); break; case State.Recovering: Recover(); break; } } private bool BeingHandled() { return cart.physGrabObject.playerGrabbing.Count > 0; } private void Stop(HudState result = HudState.NoPath) { //IL_0030: Unknown result type (might be due to invalid IL or missing references) //IL_003f: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0090: Unknown result type (might be due to invalid IL or missing references) //IL_0083: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00a1: Unknown result type (might be due to invalid IL or missing references) //IL_00a6: Unknown result type (might be due to invalid IL or missing references) SetState(State.Idle); path = null; debug?.Clear(); rb.velocity = new Vector3(0f, rb.velocity.y, 0f); rb.angularVelocity = Vector3.zero; yawCmd = 0f; if (result == HudState.NoPath) { failTime = Time.time; failGoal = (((Object)(object)follow != (Object)null) ? follow.position : goal); failPos = ((Component)this).transform.position; } HudSend(result); } private void Replan(bool sticky = false) { //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0037: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_004c: Unknown result type (might be due to invalid IL or missing references) //IL_0051: Unknown result type (might be due to invalid IL or missing references) //IL_0056: Unknown result type (might be due to invalid IL or missing references) //IL_005d: Unknown result type (might be due to invalid IL or missing references) //IL_005f: Unknown result type (might be due to invalid IL or missing references) //IL_0027: Unknown result type (might be due to invalid IL or missing references) //IL_002c: Unknown result type (might be due to invalid IL or missing references) //IL_0083: Unknown result type (might be due to invalid IL or missing references) //IL_0160: Unknown result type (might be due to invalid IL or missing references) //IL_0165: Unknown result type (might be due to invalid IL or missing references) //IL_0166: Unknown result type (might be due to invalid IL or missing references) //IL_016b: Unknown result type (might be due to invalid IL or missing references) //IL_0170: Unknown result type (might be due to invalid IL or missing references) //IL_00d0: Unknown result type (might be due to invalid IL or missing references) //IL_00b2: Unknown result type (might be due to invalid IL or missing references) //IL_01ac: Unknown result type (might be due to invalid IL or missing references) //IL_01ad: Unknown result type (might be due to invalid IL or missing references) //IL_00de: Unknown result type (might be due to invalid IL or missing references) //IL_00df: Unknown result type (might be due to invalid IL or missing references) //IL_00f0: Unknown result type (might be due to invalid IL or missing references) //IL_0109: Unknown result type (might be due to invalid IL or missing references) //IL_011e: Unknown result type (might be due to invalid IL or missing references) //IL_0120: Unknown result type (might be due to invalid IL or missing references) //IL_02b8: Unknown result type (might be due to invalid IL or missing references) //IL_02c3: Unknown result type (might be due to invalid IL or missing references) //IL_02c8: Unknown result type (might be due to invalid IL or missing references) //IL_02cd: Unknown result type (might be due to invalid IL or missing references) //IL_02d2: Unknown result type (might be due to invalid IL or missing references) //IL_0268: Unknown result type (might be due to invalid IL or missing references) lastPlanTime = Time.time; Vector3 val = goal; if ((Object)(object)follow != (Object)null) { goal = follow.position; } Vector3 val2 = ((Component)this).transform.position + Vector3.up * Shape.BottomY; Stopwatch stopwatch = Stopwatch.StartNew(); PlanResult planResult = PathPlanner.Plan(val2, goal, Shape); if ((Object)(object)follow != (Object)null && Unreached(planResult, goal) && (planResult.Path == null || planResult.Path[planResult.Path.Count - 1].Pos.y < goal.y - 1f) && PathPlanner.FloorBelow(goal, out var floor)) { PlanResult planResult2 = PathPlanner.Plan(val2, floor, Shape); if (!Unreached(planResult2, floor)) { Plugin.Log.LogInfo((object)$"Cart '{((Object)this).name}': player is up out of reach, going to the floor below at {floor}."); planResult = planResult2; goal = floor; } } Diag("plantime", $"{stopwatch.Elapsed.TotalMilliseconds:F1}ms"); Vector3 val3; if (sticky && path != null) { float num = RemainingLength(); val3 = PathPlanner.Flat(goal - val); float num2 = num + ((Vector3)(ref val3)).magnitude + 4f; if (planResult.Path == null || planResult.Partial || PathLength(planResult.Path) > num2) { PathPlanner.Verbose("Player moved; new route is longer or worse, keeping the current one."); goal = val; return; } } if (planResult.Path == null) { Plugin.Log.LogWarning((object)("Cart '" + ((Object)this).name + "': route rejected (" + planResult.Error + ").")); if (!planResult.FailPoint.HasValue) { Notify("no way through for me, stopped"); Stop(); } else if (planResult.TooNarrow) { Notify("too narrow for the cart here, stopped"); Stop(); } else if (++rejectedRoutes > 2) { Notify("no way through for me, stopped"); Stop(); } else { CartNavMesh.AddBlockedArea(planResult.FailPoint.Value, CartRadius + 0.5f); SetState(State.WaitMesh); } return; } if (planResult.Partial) { Plugin.Log.LogInfo((object)"Goal not fully reachable for the cart; driving as close as possible."); } if (planResult.Partial && PathLength(planResult.Path) < 1f) { val3 = PathPlanner.Flat(goal - ((Component)this).transform.position); if (((Vector3)(ref val3)).magnitude > arriveDistance + 1f) { Notify("can't get any closer, stopped"); Stop(); return; } } path = planResult.Path; seg = 0; segT = 0f; ResetObstacleState(); if (debug == null) { debug = new PathDebugDraw(); } debug.SetPath(path); Diag("plan", $"ok waypoints={path.Count} partial={planResult.Partial}"); SetState(State.Driving); } private static bool Unreached(PlanResult r, Vector3 target) { //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_002d: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) //IL_0033: Unknown result type (might be due to invalid IL or missing references) if (r.Path != null) { if (r.Partial) { Vector3 val = r.Path[r.Path.Count - 1].Pos - target; return ((Vector3)(ref val)).magnitude > 1.5f; } return false; } return !r.FailPoint.HasValue; } private void Drive() { //IL_0149: Unknown result type (might be due to invalid IL or missing references) //IL_014f: Unknown result type (might be due to invalid IL or missing references) //IL_0154: Unknown result type (might be due to invalid IL or missing references) //IL_0159: Unknown result type (might be due to invalid IL or missing references) //IL_015e: Unknown result type (might be due to invalid IL or missing references) //IL_00cd: Unknown result type (might be due to invalid IL or missing references) //IL_00d8: Unknown result type (might be due to invalid IL or missing references) //IL_00dd: Unknown result type (might be due to invalid IL or missing references) //IL_00e2: Unknown result type (might be due to invalid IL or missing references) //IL_00e7: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_008b: Unknown result type (might be due to invalid IL or missing references) //IL_0090: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_009a: Unknown result type (might be due to invalid IL or missing references) //IL_0104: Unknown result type (might be due to invalid IL or missing references) //IL_0114: Unknown result type (might be due to invalid IL or missing references) //IL_0194: Unknown result type (might be due to invalid IL or missing references) //IL_019f: Unknown result type (might be due to invalid IL or missing references) //IL_01a4: Unknown result type (might be due to invalid IL or missing references) //IL_01a9: Unknown result type (might be due to invalid IL or missing references) //IL_01ae: Unknown result type (might be due to invalid IL or missing references) //IL_0402: Unknown result type (might be due to invalid IL or missing references) //IL_0407: Unknown result type (might be due to invalid IL or missing references) //IL_0415: Unknown result type (might be due to invalid IL or missing references) //IL_0301: Unknown result type (might be due to invalid IL or missing references) //IL_030c: Unknown result type (might be due to invalid IL or missing references) //IL_0311: Unknown result type (might be due to invalid IL or missing references) //IL_0316: Unknown result type (might be due to invalid IL or missing references) //IL_031b: Unknown result type (might be due to invalid IL or missing references) //IL_041c: Unknown result type (might be due to invalid IL or missing references) //IL_0424: Unknown result type (might be due to invalid IL or missing references) //IL_0429: Unknown result type (might be due to invalid IL or missing references) //IL_042e: Unknown result type (might be due to invalid IL or missing references) //IL_0433: Unknown result type (might be due to invalid IL or missing references) //IL_0437: Unknown result type (might be due to invalid IL or missing references) //IL_043c: Unknown result type (might be due to invalid IL or missing references) //IL_043f: Unknown result type (might be due to invalid IL or missing references) //IL_0343: Unknown result type (might be due to invalid IL or missing references) //IL_034e: Unknown result type (might be due to invalid IL or missing references) //IL_0353: Unknown result type (might be due to invalid IL or missing references) //IL_0358: Unknown result type (might be due to invalid IL or missing references) //IL_035d: Unknown result type (might be due to invalid IL or missing references) //IL_029f: Unknown result type (might be due to invalid IL or missing references) //IL_02aa: Unknown result type (might be due to invalid IL or missing references) //IL_02af: Unknown result type (might be due to invalid IL or missing references) //IL_02b4: Unknown result type (might be due to invalid IL or missing references) //IL_02b9: Unknown result type (might be due to invalid IL or missing references) //IL_0259: Unknown result type (might be due to invalid IL or missing references) //IL_025e: Unknown result type (might be due to invalid IL or missing references) //IL_044a: Unknown result type (might be due to invalid IL or missing references) //IL_02d6: Unknown result type (might be due to invalid IL or missing references) //IL_045c: Unknown result type (might be due to invalid IL or missing references) UpdateProgress(); if (offPath > 1.2f && Time.time - lastPlanTime > 0.5f) { PathPlanner.Verbose($"Off path by {offPath:F1}m, replanning."); Replan(); return; } Vector3 val; if ((Object)(object)follow != (Object)null && (followCheckTimer -= Time.fixedDeltaTime) < 0f) { followCheckTimer = 2f; val = PathPlanner.Flat(follow.position - goal); if (((Vector3)(ref val)).magnitude > 3f) { Replan(sticky: true); return; } } float num = RemainingLength(); if ((Object)(object)follow != (Object)null) { val = PathPlanner.Flat(follow.position - ((Component)this).transform.position); if (((Vector3)(ref val)).magnitude < arriveDistance + 0.3f && Mathf.Abs(follow.position.y - ((Component)this).transform.position.y) < 1.5f) { num = 0f; } } val = PathPlanner.Flat(path[path.Count - 1].Pos - goal); bool flag = ((Vector3)(ref val)).magnitude < 1f; if (num < (flag ? arriveDistance : 0.5f)) { if ((Object)(object)extraction != (Object)null) { val = PathPlanner.Flat(goal - ((Component)this).transform.position); if (((Vector3)(ref val)).magnitude > 3f) { Notify("can't reach the extraction, stopped"); Stop(); return; } } if ((Object)(object)extraction != (Object)null && !extractionInside) { extraction.OnClick(); if (extractionStayOutside) { Plugin.Log.LogInfo((object)("Cart '" + ((Object)this).name + "' at extraction: pressed button, staying outside.")); Stop(HudState.Arrived); return; } Plugin.Log.LogInfo((object)("Cart '" + ((Object)this).name + "' at extraction: pressed button, driving inside.")); extractionInside = true; goal = ((Component)extraction).transform.position; arriveDistance = 0.5f; Replan(); return; } if ((Object)(object)follow != (Object)null && flag && Time.time - lastPlanTime > 1f) { val = PathPlanner.Flat(follow.position - ((Component)this).transform.position); if (((Vector3)(ref val)).magnitude > arriveDistance + 2f && Mathf.Abs(follow.position.y - goal.y) < 1.5f) { Replan(); return; } } val = PathPlanner.Flat(goal - ((Component)this).transform.position); if (((Vector3)(ref val)).magnitude > arriveDistance + 1f) { ManualLogSource log = Plugin.Log; string name = ((Object)this).name; val = PathPlanner.Flat(goal - ((Component)this).transform.position); log.LogInfo((object)$"Cart '{name}' route ended {((Vector3)(ref val)).magnitude:F1}m from target."); Notify("can't get any closer, stopped"); Stop(); } else { Plugin.Log.LogInfo((object)("Cart '" + ((Object)this).name + "' arrived.")); Stop(HudState.Arrived); } return; } bool flag2 = StairsNear(1.5f); float num2 = TargetSpeed(num, flag2); float dist = (flag2 ? Cfg.StairsLookahead.Value : Mathf.Lerp(0.8f, Cfg.Lookahead.Value, num2 / Mathf.Max(0.1f, Cfg.MaxSpeed.Value))); Vector3 val2 = PointAhead(dist); debug?.SetLookahead(val2); val = PathPlanner.Flat(val2 - ((Component)this).transform.position); Vector3 normalized = ((Vector3)(ref val)).normalized; if (!CheckObstacles(normalized)) { Steer(val2, num2); if (flag2) { StairsAssist(); } CheckStuck(normalized); } } private void Steer(Vector3 target, float speed) { //IL_0000: Unknown result type (might be due to invalid IL or missing references) //IL_0007: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_0033: Unknown result type (might be due to invalid IL or missing references) //IL_0038: Unknown result type (might be due to invalid IL or missing references) //IL_003d: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_0048: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_0086: Unknown result type (might be due to invalid IL or missing references) //IL_0082: Unknown result type (might be due to invalid IL or missing references) //IL_008b: Unknown result type (might be due to invalid IL or missing references) //IL_008c: Unknown result type (might be due to invalid IL or missing references) //IL_00e7: Unknown result type (might be due to invalid IL or missing references) //IL_00ee: Unknown result type (might be due to invalid IL or missing references) Vector3 val = PathPlanner.Flat(target - ((Component)this).transform.position); if (!(((Vector3)(ref val)).sqrMagnitude < 0.0001f)) { ((Vector3)(ref val)).Normalize(); Vector3 val2 = PathPlanner.Flat(((Component)this).transform.forward); Vector3 normalized = ((Vector3)(ref val2)).normalized; float num = Vector3.Angle(normalized, val); if (facingBack ? (num < 60f) : (num > 120f)) { facingBack = !facingBack; } float num2 = Vector3.SignedAngle(facingBack ? (-normalized) : normalized, val, Vector3.up); float yawRate = Mathf.Clamp(num2 * (MathF.PI / 180f) * 6f, -4f, 4f); SetYawRate(yawRate); float num3 = Mathf.Clamp01(1f - (Mathf.Abs(num2) - 25f) / 50f); commandedSpeed = speed * num3; ApplyVelocity(val * commandedSpeed); } } private void SetYawRate(float yawRate) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0089: Unknown result type (might be due to invalid IL or missing references) Vector3 val = PathPlanner.Flat(rb.velocity); float magnitude = ((Vector3)(ref val)).magnitude; float num = Mathf.Min(1.5f / Mathf.Max(0.5f, Shape.HalfLength), 3f / Mathf.Max(0.1f, magnitude)); yawRate = Mathf.Clamp(yawRate, 0f - num, num); yawCmd = Mathf.MoveTowards(yawCmd, yawRate, 2.5f * Time.fixedDeltaTime); rb.angularVelocity = new Vector3(0f, yawCmd, 0f); } private void ApplyVelocity(Vector3 horizontal) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_002f: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004d: Unknown result type (might be due to invalid IL or missing references) //IL_0052: Unknown result type (might be due to invalid IL or missing references) //IL_0059: Unknown result type (might be due to invalid IL or missing references) //IL_005f: Unknown result type (might be due to invalid IL or missing references) //IL_0065: Unknown result type (might be due to invalid IL or missing references) //IL_006b: Unknown result type (might be due to invalid IL or missing references) Vector3 velocity = rb.velocity; float num = ((state == State.Driving && StairsNear(1.5f)) ? 30f : 10f); Vector3 val = Vector3.MoveTowards(new Vector3(velocity.x, 0f, velocity.z), horizontal, num * Time.fixedDeltaTime); rb.velocity = new Vector3(val.x, velocity.y, val.z); } private float TargetSpeed(float remaining, bool stairs) { //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0015: Unknown result type (might be due to invalid IL or missing references) //IL_001c: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_002d: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) //IL_002f: Unknown result type (might be due to invalid IL or missing references) //IL_0030: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_003b: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) float value = Cfg.MaxSpeed.Value; Vector3 val = PointAhead(0f); Vector3 val2 = PointAhead(1f); Vector3 val3 = PointAhead(3f); float num = Vector3.Angle(PathPlanner.Flat(val2 - val), PathPlanner.Flat(val3 - val2)); float num2 = Mathf.Lerp(value, Mathf.Min(value, Cfg.CornerSpeed.Value), Mathf.Clamp01(num / 90f)); num2 *= Mathf.Lerp(0.5f, 1f, Mathf.Clamp01(path[seg].Room * 0.5f)); if (stairs) { num2 = Mathf.Min(num2, Cfg.StairsSpeed.Value); } if (DoorNear(2.5f)) { num2 = Mathf.Min(num2, Cfg.DoorSpeed.Value); } num2 = Mathf.Min(num2, Mathf.Sqrt(4f * Mathf.Max(0f, remaining - arriveDistance)) + 0.3f); return Mathf.Max(num2, Mathf.Min(Cfg.MinSpeed.Value, 0.5f)); } private void StairsAssist() { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0042: Unknown result type (might be due to invalid IL or missing references) //IL_0043: Unknown result type (might be due to invalid IL or missing references) //IL_0044: Unknown result type (might be due to invalid IL or missing references) //IL_0049: Unknown result type (might be due to invalid IL or missing references) //IL_004e: Unknown result type (might be due to invalid IL or missing references) //IL_0058: Unknown result type (might be due to invalid IL or missing references) //IL_005e: Unknown result type (might be due to invalid IL or missing references) //IL_007b: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) //IL_0092: Unknown result type (might be due to invalid IL or missing references) //IL_00ab: Unknown result type (might be due to invalid IL or missing references) //IL_00bc: Unknown result type (might be due to invalid IL or missing references) //IL_00c6: Unknown result type (might be due to invalid IL or missing references) //IL_0155: Unknown result type (might be due to invalid IL or missing references) //IL_0167: Unknown result type (might be due to invalid IL or missing references) //IL_0173: Unknown result type (might be due to invalid IL or missing references) Vector3 pos = path[seg].Pos; Vector3 pos2 = path[Mathf.Min(seg + 1, path.Count - 1)].Pos; Vector3 val = PathPlanner.Flat(pos2 - pos); float magnitude = ((Vector3)(ref val)).magnitude; if (pos2.y <= pos.y + 0.05f || magnitude < 0.05f) { return; } float num = commandedSpeed * (pos2.y - pos.y) / magnitude; if (rb.velocity.y < num) { rb.velocity = new Vector3(rb.velocity.x, num, rb.velocity.z); } if (Cfg.StairsUpAssist.Value <= 0f) { return; } float num2 = rb.mass; foreach (PhysGrabObject item in cart.itemsInCart) { if ((Object)(object)item != (Object)null && (Object)(object)item.rb != (Object)null) { num2 += item.rb.mass; } } rb.AddForce(Vector3.up * (Cfg.StairsUpAssist.Value * num2 * (0f - Physics.gravity.y))); } private void UpdateProgress() { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_004b: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0055: Unknown result type (might be due to invalid IL or missing references) //IL_0065: Unknown result type (might be due to invalid IL or missing references) //IL_006a: Unknown result type (might be due to invalid IL or missing references) //IL_006f: Unknown result type (might be due to invalid IL or missing references) //IL_0071: Unknown result type (might be due to invalid IL or missing references) //IL_0076: Unknown result type (might be due to invalid IL or missing references) //IL_008d: Unknown result type (might be due to invalid IL or missing references) //IL_008e: Unknown result type (might be due to invalid IL or missing references) //IL_0090: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00ab: Unknown result type (might be due to invalid IL or missing references) //IL_00ad: Unknown result type (might be due to invalid IL or missing references) //IL_00b1: Unknown result type (might be due to invalid IL or missing references) //IL_00b6: Unknown result type (might be due to invalid IL or missing references) //IL_00bb: Unknown result type (might be due to invalid IL or missing references) //IL_00bc: Unknown result type (might be due to invalid IL or missing references) //IL_00c1: Unknown result type (might be due to invalid IL or missing references) Vector3 val = PathPlanner.Flat(((Component)this).transform.position); float num = float.MaxValue; int num2 = Mathf.Min(seg + 10, path.Count - 1); for (int i = seg; i < num2; i++) { Vector3 val2 = PathPlanner.Flat(path[i].Pos); Vector3 val3 = PathPlanner.Flat(path[i + 1].Pos) - val2; float num3 = ((((Vector3)(ref val3)).sqrMagnitude > 0f) ? Mathf.Clamp01(Vector3.Dot(val - val2, val3) / ((Vector3)(ref val3)).sqrMagnitude) : 0f); Vector3 val4 = val2 + val3 * num3 - val; float magnitude = ((Vector3)(ref val4)).magnitude; if (magnitude < num) { num = magnitude; seg = i; segT = num3; } } offPath = num; } private Vector3 PointAhead(float dist) { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_0051: Unknown result type (might be due to invalid IL or missing references) //IL_0056: Unknown result type (might be due to invalid IL or missing references) //IL_0057: Unknown result type (might be due to invalid IL or missing references) //IL_0058: Unknown result type (might be due to invalid IL or missing references) //IL_0059: Unknown result type (might be due to invalid IL or missing references) //IL_005e: Unknown result type (might be due to invalid IL or missing references) //IL_0063: Unknown result type (might be due to invalid IL or missing references) //IL_00b5: Unknown result type (might be due to invalid IL or missing references) //IL_0089: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_0079: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_007e: Unknown result type (might be due to invalid IL or missing references) Vector3 val = Vector3.Lerp(path[seg].Pos, path[seg + 1].Pos, segT); for (int i = seg + 1; i < path.Count; i++) { Vector3 pos = path[i].Pos; Vector3 val2 = PathPlanner.Flat(pos - val); float magnitude = ((Vector3)(ref val2)).magnitude; if (magnitude >= dist && magnitude > 0f) { return Vector3.Lerp(val, pos, dist / magnitude); } dist -= magnitude; val = pos; } return path[path.Count - 1].Pos; } private float RemainingLength() { //IL_0013: Unknown result type (might be due to invalid IL or missing references) //IL_001e: Unknown result type (might be due to invalid IL or missing references) //IL_0023: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_002d: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0061: Unknown result type (might be due to invalid IL or missing references) //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_006b: Unknown result type (might be due to invalid IL or missing references) //IL_0070: Unknown result type (might be due to invalid IL or missing references) Vector3 val = PathPlanner.Flat(path[seg + 1].Pos - ((Component)this).transform.position); float num = ((Vector3)(ref val)).magnitude; for (int i = seg + 1; i < path.Count - 1; i++) { float num2 = num; val = PathPlanner.Flat(path[i + 1].Pos - path[i].Pos); num = num2 + ((Vector3)(ref val)).magnitude; } return num; } private static float PathLength(List<Waypoint> p) { //IL_0012: Unknown result type (might be due to invalid IL or missing references) //IL_0020: Unknown result type (might be due to invalid IL or missing references) //IL_0025: Unknown result type (might be due to invalid IL or missing references) //IL_002a: Unknown result type (might be due to invalid IL or missing references) //IL_002f: Unknown result type (might be due to invalid IL or missing references) float num = 0f; for (int i = 1; i < p.Count; i++) { float num2 = num; Vector3 val = PathPlanner.Flat(p[i].Pos - p[i - 1].Pos); num = num2 + ((Vector3)(ref val)).magnitude; } return num; } private bool StairsNear(float ahead) { return AnyAhead(ahead, (Waypoint w) => w.Stairs); } private bool DoorNear(float ahead) { return AnyAhead(ahead, (Waypoint w) => w.Door); } private bool AnyAhead(float ahead, Func<Waypoint, bool> pred) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0026: Unknown result type (might be due to invalid IL or missing references) //IL_002b: Unknown result type (might be due to invalid IL or missing references) //IL_002c: Unknown result type (might be due to invalid IL or missing references) //IL_0031: Unknown result type (might be due to invalid IL or missing references) //IL_0036: Unknown result type (might be due to invalid IL or missing references) Vector3 val = PathPlanner.Flat(((Component)this).transform.position); for (int i = seg; i < path.Count; i++) { Vector3 val2 = PathPlanner.Flat(path[i].Pos - val); if (((Vector3)(ref val2)).magnitude > ahead && i > seg + 1) { break; } if (pred(path[i])) { return true; } } return false; } private bool ResolveDestination(Destination dest, Vector3 playerPos, out Vector3 goal, out Transform follow) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_0026: Unknown result type (might be due to invalid IL or missing references) //IL_0052: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_006b: Unknown result type (might be due to invalid IL or missing references) //IL_0076: Unknown result type (might be due to invalid IL or missing references) //IL_0080: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_00b5: Unknown result type (might be due to invalid IL or missing references) //IL_00ba: Unknown result type (might be due to invalid IL or missing references) goal = default(Vector3); follow = null; switch (dest) { case Destination.Player: { PlayerAvatar val3 = NearestPlayer(playerPos); if ((Object)(object)val3 == (Object)null) { return false; } follow = ((Component)val3).transform; goal = follow.position; return true; } case Destination.Extraction: case Destination.ExtractionOpen: { ExtractionPoint val2 = PickExtraction(playerPos); if ((Object)(object)val2 == (Object)null) { return false; } goal = ((Component)val2).transform.position + ((Component)val2).transform.forward * 4f; extraction = val2; extractionStayOutside = dest == Destination.ExtractionOpen; return true; } case Destination.Truck: { Transform val = TruckTransform(); if ((Object)(object)val == (Object)null) { return false; } goal = val.position; return true; } default: return false; } } private static PlayerAvatar NearestPlayer(Vector3 pos) { //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_003f: Unknown result type (might be due to invalid IL or missing references) PlayerAvatar result = null; float num = float.MaxValue; foreach (PlayerAvatar item in SemiFunc.PlayerGetAll()) { if (!((Object)(object)item == (Object)null) && !item.isDisabled) { Vector3 val = ((Component)item).transform.position - pos; float sqrMagnitude = ((Vector3)(ref val)).sqrMagnitude; if (sqrMagnitude < num) { num = sqrMagnitude; result = item; } } } return result; } private static Transform TruckTransform() { if (!((Object)(object)TruckSafetySpawnPoint.instance != (Object)null)) { if (!((Object)(object)TruckHealer.instance != (Object)null)) { return null; } return ((Component)TruckHealer.instance).transform; } return ((Component)TruckSafetySpawnPoint.instance).transform; } private ExtractionPoint PickExtraction(Vector3 playerPos) { //IL_003e: Unknown result type (might be due to invalid IL or missing references) //IL_0033: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_0043: Unknown result type (might be due to invalid IL or missing references) //IL_007d: Unknown result type (might be due to invalid IL or missing references) //IL_0074: Unknown result type (might be due to invalid IL or missing references) //IL_0082: Unknown result type (might be due to invalid IL or missing references) //IL_00cb: Unknown result type (might be due to invalid IL or missing references) //IL_00d1: Invalid comparison between Unknown and I4 //IL_00db: Unknown result type (might be due to invalid IL or missing references) //IL_00e1: Invalid comparison between Unknown and I4 //IL_0114: Unknown result type (might be due to invalid IL or missing references) //IL_0119: Unknown result type (might be due to invalid IL or missing references) //IL_011a: Unknown result type (might be due to invalid IL or missing references) //IL_011f: Unknown result type (might be due to invalid IL or missing references) //IL_00f6: Unknown result type (might be due to invalid IL or missing references) //IL_00fb: Unknown result type (might be due to invalid IL or missing references) //IL_00fd: Unknown result type (might be due to invalid IL or missing references) //IL_0102: Unknown result type (might be due to invalid IL or missing references) RoundDirector instance = RoundDirector.instance; if ((Object)(object)instance == (Object)null) { return null; } Transform val = TruckTransform(); bool flag = Cfg.ExtractionFurthestFromTruck.Value && (Object)(object)val != (Object)null; Vector3 val2; Vector3 val3; if (!flag) { val2 = default(Vector3); val3 = val2; } else { val3 = val.position; } Vector3 val4 = val3; if (Cfg.ExtractionFurthestFromTruck.Value && (Object)(object)val == (Object)null) { Plugin.Log.LogWarning((object)"No truck found; picking extraction by player distance."); } Vector3 val5 = (Cfg.ExtractionClosestToCart.Value ? ((Component)this).transform.position : playerPos); ExtractionPoint result = null; float num = float.MaxValue; foreach (GameObject extractionPoint in instance.extractionPointList) { if ((Object)(object)extractionPoint == (Object)null) { continue; } ExtractionPoint component = extractionPoint.GetComponent<ExtractionPoint>(); if ((Object)(object)component == (Object)null) { continue; } if ((int)component.currentState == 2) { return component; } if ((int)component.currentState == 1 && !component.isLocked) { float num2; if (!flag) { val2 = ((Component)component).transform.position - val5; num2 = ((Vector3)(ref val2)).sqrMagnitude; } else { val2 = ((Component)component).transform.position - val4; num2 = 0f - ((Vector3)(ref val2)).sqrMagnitude; } float num3 = num2; if (num3 < num) { num = num3; result = component; } } } return result; } private void HudReset() { hudTotal = -1f; hudRemaining = 0f; } private void HudSend(HudState s) { float num = ((s == HudState.Arrived) ? 1f : ((hudTotal > 0f) ? (1f - hudRemaining / hudTotal) : 0f)); float num2 = ((s == HudState.Arrived) ? 0f : hudRemaining); if (commander == null || commander.IsLocal) { CartPilotHudRPC((byte)s, num, num2); return; } ((MonoBehaviourPun)this).photonView.RPC("CartPilotHudRPC", commander, new object[3] { (byte)s, num, num2 }); } private void HudTick() { if (path != null && state == State.Driving) { hudRemaining = RemainingLength(); if (hudRemaining > hudTotal) { hudTotal = hudRemaining; } } if (!(Time.time < hudSendTime)) { hudSendTime = Time.time + 0.2f; HudSend(HudState.Driving); } } [PunRPC] private void CartPilotHudRPC(byte s, float progress, float meters) { if (hud != HudState.Driving && s == 1) { hudShown = 0f; } hud = (HudState)s; hudProgress = Mathf.Clamp01(progress); hudMeters = meters; hudUntil = Time.time + ((hud == HudState.Driving) ? 2f : 3f); } private void OnGUI() { //IL_002f: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Invalid comparison between Unknown and I4 //IL_0112: Unknown result type (might be due to invalid IL or missing references) //IL_0117: Unknown result type (might be due to invalid IL or missing references) //IL_01ab: Unknown result type (might be due to invalid IL or missing references) //IL_01da: Unknown result type (might be due to invalid IL or missing references) //IL_020b: Unknown result type (might be due to invalid IL or missing references) //IL_0251: Unknown result type (might be due to invalid IL or missing references) //IL_0294: Unknown result type (might be due to invalid IL or missing references) //IL_010b: Unknown result type (might be due to invalid IL or missing references) //IL_0104: Unknown result type (might be due to invalid IL or missing references) //IL_02e9: Unknown result type (might be due to invalid IL or missing references) //IL_02ee: Unknown result type (might be due to invalid IL or missing references) //IL_02f5: Unknown result type (might be due to invalid IL or missing references) //IL_0301: Expected O, but got Unknown //IL_0324: Unknown result type (might be due to invalid IL or missing references) //IL_0320: Unknown result type (might be due to invalid IL or missing references) //IL_0329: Unknown result type (might be due to invalid IL or missing references) //IL_0339: Unknown result type (might be due to invalid IL or missing references) //IL_0351: Unknown result type (might be due to invalid IL or missing references) //IL_0362: Unknown result type (might be due to invalid IL or missing references) if (!Cfg.HudEnabled.Value || hud == HudState.Hidden) { return; } if (Time.time > hudUntil) { hud = HudState.Hidden; } else { if ((int)Event.current.type != 7) { return; } int num = 0; foreach (CartPilotController item in All) { if ((Object)(object)item == (Object)(object)this) { break; } if (item.hud != HudState.Hidden) { num++; } } float num2 = ((hud == HudState.Arrived) ? 1f : hudProgress); hudShown = Mathf.Lerp(hudShown, num2, 1f - Mathf.Exp(-6f * Time.deltaTime)); float num3 = Cfg.HudScale.Value * (float)Screen.height / 1080f; float num4 = Mathf.Clamp01((hudUntil - Time.time) / 0.4f); Color val = ((hud == HudState.Arrived) ? HudOk : ((hud == HudState.NoPath) ? HudFail : HudCart)); float num5 = Cfg.HudLength.Value * num3; float num6 = 70f * num3; float num7 = 12f * num3; float num8 = 26f * num3; float num9 = num7 + num5 + 10f * num3 + num6; float num10 = Cfg.HudX.Value * (float)Screen.width - num9 / 2f; float num11 = Cfg.HudY.Value * (float)Screen.height + (float)num * (num8 + 6f * num3); float num12 = num11 + num8 / 2f; Round(num10, num11, num9, num8, num8 / 2f, HudPanel, num4); float num13 = num10 + num7; float num14 = 4f * num3; Round(num13, num12 - num14 / 2f, num5, num14, num14 / 2f, HudTrack, num4); Round(num13, num12 - num14 / 2f, Mathf.Max(num14, hudShown * num5), num14, num14 / 2f, val, num4); float num15 = 12f * num3; float num16 = num13 + hudShown * num5; float num17 = 2f * num3; Round(num16 - num15 / 2f, num12 - num15 / 2f, num15, num15, num15 / 2f, Color.white, num4); Round(num16 - num15 / 2f + num17, num12 - num15 / 2f + num17, num15 - 2f * num17, num15 - 2f * num17, num15 / 2f, val, num4); string text = ((hud == HudState.Arrived) ? "Arrived" : ((hud == HudState.NoPath) ? "No path" : $"{Mathf.CeilToInt(hudMeters)} m")); if (hudLabel == null) { hudLabel = new GUIStyle(GUI.skin.label) { alignment = (TextAnchor)3, fontStyle = (FontStyle)1 }; } hudLabel.fontSize = Mathf.RoundToInt(13f * num3); Color color = ((hud == HudState.Driving) ? Color.white : val); color.a = 0.9f * num4; GUI.color = color; GUI.Label(new Rect(num13 + num5 + 10f * num3, num11, num6, num8), text, hudLabel); GUI.color = Color.white; } } private static void Round(float x, float y, float w, float h, float r, Color c, float alpha) { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0022: Unknown result type (might be due to invalid IL or missing references) c.a *= alpha; GUI.DrawTexture(new Rect(x, y, w, h), (Texture)(object)Texture2D.whiteTexture, (ScaleMode)0, true, 0f, c, 0f, Mathf.Min(new float[3] { r, w / 2f, h / 2f })); } private void ResetObstacleState() { //IL_000e: Unknown result type (might be due to invalid IL or missing references) //IL_0013: Unknown result type (might be due to invalid IL or missing references) committedChoke = -1; stuckRef = ((Component)this).transform.position; stuckTimer = 0f; aheadBlockedFor = 0f; } private bool CheckObstacles(Vector3 travel) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_0008: Unknown result type (might be due to invalid IL or missing references) //IL_007e: Unknown result type (might be due to invalid IL or missing references) //IL_0083: Unknown result type (might be due to invalid IL or missing references) //IL_0084: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_0090: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00b0: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_00ca: Unknown result type (might be due to invalid IL or missing references) //IL_0063: Unknown result type (might be due to invalid IL or missing references) //IL_00e0: Unknown result type (might be due to invalid IL or missing references) SmashDoorAhead(travel); if (DropAhead(travel, out var point)) { Hold(); Plugin.Log.LogWarning((object)$"Cart '{((Object)this).name}': drop ahead at {point}, not driving off it."); if (++rejectedRoutes > 2) { Notify("only route has a drop, stopped"); Stop(); return true; } CartNavMesh.AddBlockedArea(point, CartRadius); SetState(State.WaitMesh); return true; } Vector3 velocity = rb.velocity; Vector2 val = new Vector2(velocity.x, velocity.z); float magnitude = ((Vector2)(ref val)).magnitude; float num = 0.6f + magnitude * magnitude / 6f; if (Probe(travel, Shape.HalfLength + num, out var hitPos, out var what)) { EnterYield(hitPos, what); return true; } if (!ChokeAheadClear(out var farSide)) { EnterYield(farSide, "far side of chokepoint occupied"); return true; } return PathAheadBlocked(); } private bool PathAheadBlocked() { //IL_0073: Unknown result type (might be due to invalid IL or missing references) //IL_0075: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_007f: Unknown result type (might be due to invalid IL or missing references) //IL_0084: Unknown result type (might be due to invalid IL or missing references) //IL_00a6: Unknown result type (might be due to invalid IL or missing references) //IL_00b6: Unknown result type (might be due to invalid IL or missing references) if ((aheadScanTimer -= Time.fixedDeltaTime) > 0f) { return false; } aheadScanTimer = 0.25f; if (!FindBlockerOnPath(out var at, out var what)) { aheadBlockedFor = 0f; return false; } aheadBlockedFor += 0.25f; if (aheadBlockedFor < Cfg.BlockedReplanTime.Value) { return false; } aheadBlockedFor = 0f; Vector3 val = PathPlanner.Flat(at - goal); if (((Vector3)(ref val)).magnitude < 2f) { return false; } Plugin.Log.LogInfo((object)$"Cart '{((Object)this).name}': route ahead blocked by {what} at {at}, picking a new route."); CartNavMesh.AddBlockedArea(at, CartRadius + 0.6f); SetState(State.WaitMesh); return true; } private bool FindBlockerOnPath(out Vector3 at, out string what) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_0037: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_003d: Unknown result type (might be due to invalid IL or missing references) //IL_003e: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_007d: Unknown result type (might be due to invalid IL or missing references) //IL_007e: Unknown result type (might be due to invalid IL or missing references) at = default(Vector3); what = null; float num = Shape.HalfWidth + 0.2f; float num2 = Mathf.Min(15f, RemainingLength()); for (float num3 = 2f; num3 <= num2; num3 += 1.5f) { Vector3 val = PointAhead(num3); int num4 = Physics.OverlapSphereNonAlloc(val + Vector3.up * (0.3f + num), num, Overlaps, BlockerMask, (QueryTriggerInteraction)1); for (int i = 0; i < num4; i++) { if (!IgnoreCollider(Overlaps[i])) { at = val; what = Describe(Overlaps[i]); return true; } } } return false; } private bool ChokeAheadClear(out Vector3 farSide) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0067: Unknown result type (might be due to invalid IL or missing references) //IL_0068: Unknown result type (might be due to invalid IL or missing references) //IL_006d: Unknown result type (might be due to invalid IL or missing references) //IL_0072: Unknown result type (might be due to invalid IL or missing references) //IL_0172: Unknown result type (might be due to invalid IL or missing references) //IL_0177: Unknown result type (might be due to invalid IL or missing references) //IL_0189: Unknown result type (might be due to invalid IL or missing references) //IL_019a: Unknown result type (might be due to invalid IL or missing references) //IL_019f: Unknown result type (might be due to invalid IL or missing references) //IL_01a4: Unknown result type (might be due to invalid IL or missing references) //IL_01a9: Unknown result type (might be due to invalid IL or missing references) //IL_01e9: Unknown result type (might be due to invalid IL or missing references) //IL_01ee: Unknown result type (might be due to invalid IL or missing references) //IL_01c5: Unknown result type (might be due to invalid IL or missing references) //IL_01d6: Unknown result type (might be due to invalid IL or missing references) //IL_01db: Unknown result type (might be due to invalid IL or missing references) //IL_01e0: Unknown result type (might be due to invalid IL or missing references) //IL_01e5: Unknown result type (might be due to invalid IL or missing references) //IL_0119: Unknown result type (might be due to invalid IL or missing references) //IL_012b: Unknown result type (might be due to invalid IL or missing references) //IL_0130: Unknown result type (might be due to invalid IL or missing references) //IL_0135: Unknown result type (might be due to invalid IL or missing references) //IL_013a: Unknown result type (might be due to invalid IL or missing references) //IL_023a: Unknown result type (might be due to invalid IL or missing references) //IL_020a: Unknown result type (might be due to invalid IL or missing references) farSide = default(Vector3); if (path[seg].Choke) { committedChoke = Mathf.Max(committedChoke, seg); } Vector3 val = PathPlanner.Flat(((Component)this).transform.position); int num = -1; Vector3 val2; for (int i = seg + 1; i < path.Count; i++) { val2 = PathPlanner.Flat(path[i].Pos - val); if (((Vector3)(ref val2)).magnitude > 3.5f) { break; } if (path[i].Choke) { num = i; break; } } if (num < 0 || num <= committedChoke) { return true; } int j; for (j = num; j + 1 < path.Count && path[j + 1].Choke; j++) { } float num2 = Shape.HalfLength * 2f + 0.5f; int k; for (k = j; k + 1 < path.Count; k++) { if (!(num2 > 0f)) { break; } float num3 = num2; val2 = PathPlanner.Flat(path[k + 1].Pos - path[k].Pos); num2 = num3 - ((Vector3)(ref val2)).magnitude; } farSide = path[k].Pos; Vector3 dir = PathPlanner.Flat(path[k].Pos - path[j].Pos); if (((Vector3)(ref dir)).sqrMagnitude < 0.01f) { dir = PathPlanner.Flat(path[j].Pos - path[num].Pos); } if (Occupied(farSide, dir, out var what)) { PathPlanner.Verbose($"Chokepoint at {path[num].Pos}: far side has {what}."); return false; } committedChoke = j; PathPlanner.Verbose($"Chokepoint at {path[num].Pos} clear, committing."); return true; } private void CheckStuck(Vector3 travel) { //IL_0014: Unknown result type (might be due to invalid IL or missing references) //IL_0019: Unknown result type (might be due to invalid IL or missing references) //IL_0052: Unknown result type (might be due to invalid IL or missing references) //IL_0058: Unknown result type (might be due to invalid IL or missing references) //IL_005d: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0067: Unknown result type (might be due to invalid IL or missing references) //IL_0077: Unknown result type (might be due to invalid IL or missing references) //IL_007c: Unknown result type (might be due to invalid IL or missing references) //IL_00f2: Unknown result type (might be due to invalid IL or missing references) //IL_00f7: Unknown result type (might be due to invalid IL or missing references) //IL_00bc: Unknown result type (might be due to invalid IL or missing references) //IL_00c2: Unknown result type (might be due to invalid IL or missing references) //IL_00c7: Unknown result type (might be due to invalid IL or missing references) //IL_00cc: Unknown result type (might be due to invalid IL or missing references) //IL_00d1: Unknown result type (might be due to invalid IL or missing references) //IL_019d: Unknown result type (might be due to invalid IL or missing references) //IL_019e: Unknown result type (might be due to invalid IL or missing references) //IL_01a3: Unknown result type (might be due to invalid IL or missing references) //IL_016a: Unknown result type (might be due to invalid IL or missing references) //IL_016f: Unknown result type (might be due to invalid IL or missing references) //IL_0181: Unknown result type (might be due to invalid IL or missing references) //IL_0186: Unknown result type (might be due to invalid IL or missing references) if (commandedSpeed < 0.4f) { stuckRef = ((Component)this).transform.position; stuckTimer = 0f; } else { if ((stuckTimer += Time.fixedDeltaTime) < Cfg.StuckTimeout.Value) { return; } Vector3 val = PathPlanner.Flat(((Component)this).transform.position - stuckRef); float magnitude = ((Vector3)(ref val)).magnitude; stuckRef = ((Component)this).transform.position; stuckTimer = 0f; if (magnitude > 0.3f) { return; } int num; if (StairsNear(2f)) { if (Time.time - lastStuckTime < 20f) { val = PathPlanner.Flat(((Component)this).transform.position - lastStuckPos); num = ((((Vector3)(ref val)).magnitude < 2f) ? 1 : 0); } else { num = 0; } } else { num = 1; } stuckRepeat = (byte)num != 0; lastStuckPos = ((Component)this).transform.position; lastStuckTime = Time.time; Plugin.Log.LogInfo((object)string.Format("Cart '{0}' stuck (moved {1:F2}m in {2:F1}s){3}, backing up.", ((Object)this).name, magnitude, Cfg.StuckTimeout.Value, stuckRepeat ? ", blocking this spot" : "")); if (stuckRepeat) { CartNavMesh.AddBlockedArea(((Component)this).transform.position + travel * (Shape.HalfLength + 0.3f), CartRadius + 0.4f); } recoverDir = -travel; recoverTimer = 0f; SetState(State.Recovering); } } private void EnterYield(Vector3 at, string why) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_0002: Unknown result type (might be due to invalid IL or missing references) //IL_0033: Unknown result type (might be due to invalid IL or missing references) //IL_0043: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0054: Unknown result type (might be due to invalid IL or missing references) //IL_0059: Unknown result type (might be due to invalid IL or missing references) blockerPos = at; yieldTimer = (clearTimer = 0f); goalBlockNotified = false; Plugin.Log.LogInfo((object)$"Cart '{((Object)this).name}' yielding: {why} at {at}."); Vector3 val = PathPlanner.Flat(at - ((Component)this).transform.position); if ((((Vector3)(ref val)).magnitude < Shape.HalfLength + 1f || path[seg].Choke) && FindLastSafe(out reverseTarget)) { reverseTimer = 0f; SetState(State.Reversing); } else { SetState(State.Yielding); } } private void Yield() { //IL_001e: Unknown result type (might be due to invalid IL or missing references) //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) //IL_0033: Unknown result type (might be due to invalid IL or missing references) //IL_0038: Unknown result type (might be due to invalid IL or missing references) //IL_003b: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_005e: Unknown result type (might be due to invalid IL or missing references) //IL_0063: Unknown result type (might be due to invalid IL or missing references) //IL_0068: Unknown result type (might be due to invalid IL or missing references) //IL_006d: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) //IL_0082: Unknown result type (might be due to invalid IL or missing references) //IL_008f: Unknown result type (might be due to invalid IL or missing references) //IL_0118: Unknown result type (might be due to invalid IL or missing references) //IL_011d: Unknown result type (might be due to invalid IL or missing references) //IL_0154: Unknown result type (might be due to invalid IL or missing references) //IL_015a: Unknown result type (might be due to invalid IL or missing references) //IL_015f: Unknown result type (might be due to invalid IL or missing references) //IL_0164: Unknown result type (might be due to invalid IL or missing references) //IL_0169: Unknown result type (might be du
