NavAreaBuildPath<SurvivorPathCost>

/* WARNING: Globals starting with '_' overlap smaller symbols at the same address */
/* bool NavAreaBuildPath<SurvivorPathCost>(CNavArea*, CNavArea*, Vector const*, Vector const*,
   SurvivorPathCost&, CNavArea**, float, int, bool) */

bool NavAreaBuildPath<SurvivorPathCost>
               (CNavArea *param_1,CNavArea *param_2,Vector *param_3,Vector *param_4,
               SurvivorPathCost *param_5,CNavArea **param_6,float param_7,int param_8,bool param_9)

{
  uint *puVar1;
  float fVar2;
  float fVar3;
  float fVar4;
  float fVar5;
  float fVar6;
  float fVar7;
  int iVar8;
  int iVar9;
  char cVar10;
  CNavArea *pCVar11;
  int iVar12;
  int *piVar13;
  int iVar14;
  bool bVar15;
  CNavArea *this;
  longdouble lVar16;
  float fVar17;
  float fVar18;
  float fVar19;
  float fVar20;
  float fVar21;
  undefined1 auVar22 [16];
  float fVar23;
  float local_80;
  int local_6c;
  char local_66;
  CNavArea *local_64;
  int local_5c;
  CFuncElevator *local_58;
  CNavArea *local_54;
  float local_50;
  CNavLadder *local_4c;
  int local_48;
  int local_40;
  undefined4 local_34;
  undefined4 local_30;
  undefined4 local_28;
  undefined4 local_24;
  int local_20;
  
  local_34 = 0;
  local_30 = 0;
  if (_towlower == 0) {
    local_20 = 0;
  }
  else {
    (**(code **)(_towlower + 0x50))
              (_towlower,&local_34,0,0,0,0,"/data/src/game/server/nav_pathfind.h",0x67,
               &NavAreaBuildPath<SurvivorPathCost>(CNavArea*,CNavArea*,Vector_const*,Vector_const*,SurvivorPathCost&,CNavArea**,float,int,bool)
                ::tm_fmt,"(%s)%s","NavAreaBuildPath","NavAreaBuildPath");
    local_20 = _towlower;
  }
  iVar9 = _DAT_0105db00;
  local_28 = local_34;
  local_24 = local_30;
                    /* try { // try from 0096ccce to 0096cd2e has its CatchHandler @ 0096d340 */
  if (((_DAT_0105d154 != 0) || (DAT_0105d158 == '\0')) &&
     (iVar12 = ThreadGetCurrentId(), iVar9 == iVar12)) {
    if ((char *)*_DAT_0105d15c != "NavAreaBuildPath") {
      _DAT_0105d15c =
           (int *)CVProfNode::GetSubNode((char *)_DAT_0105d15c,0xca5c91,(char *)0x0,0xca5c91);
    }
    puVar1 = (uint *)(_DAT_0105d1e8 + 4 + _DAT_0105d15c[0x1c] * 8);
    *puVar1 = *puVar1 | 4;
    CVProfNode::EnterScope();
    DAT_0105d158 = '\0';
  }
  if (param_6 != (CNavArea **)0x0) {
    *param_6 = param_1;
  }
  iVar9 = g_DebugPathfindCounter;
  g_DebugPathfindCounter = g_DebugPathfindCounter + -1;
  if (param_1 != (CNavArea *)0x0) {
                    /* try { // try from 0096ca1e to 0096cc52 has its CatchHandler @ 0096d31f */
    if ((param_2 == (CNavArea *)0x0) ||
       (local_66 = CNavArea::IsBlocked(param_2,param_8,param_9), local_66 == '\0')) {
      local_66 = param_2 == (CNavArea *)0x0;
      if ((bool)local_66) goto LAB_0096cda1;
    }
    else {
      param_2 = (CNavArea *)0x0;
      if (local_66 != '\0') {
LAB_0096cda1:
        if (param_4 == (Vector *)0x0) goto LAB_0096cc65;
      }
    }
    *(undefined4 *)(param_1 + 0x78) = 0;
    param_1[0x7c] = (CNavArea)((byte)param_1[0x7c] & 0xf0 | 9);
    if (param_1 == param_2) {
LAB_0096d2dd:
      bVar15 = true;
      goto LAB_0096cc67;
    }
    pCVar11 = param_1 + 0x2c;
    if (param_3 != (Vector *)0x0) {
      pCVar11 = (CNavArea *)param_3;
    }
    fVar2 = *(float *)pCVar11;
    fVar3 = *(float *)(pCVar11 + 8);
    fVar4 = *(float *)(pCVar11 + 4);
    pCVar11 = param_2 + 0x2c;
    if (param_4 != (Vector *)0x0) {
      pCVar11 = (CNavArea *)param_4;
    }
    fVar5 = *(float *)pCVar11;
    fVar6 = *(float *)(pCVar11 + 4);
    fVar7 = *(float *)(pCVar11 + 8);
    CNavArea::ClearSearchLists();
    *(float *)(param_1 + 0x40) =
         SQRT((*(float *)(param_1 + 0x30) - fVar6) * (*(float *)(param_1 + 0x30) - fVar6) +
              (*(float *)(param_1 + 0x34) - fVar7) * (*(float *)(param_1 + 0x34) - fVar7) +
              (*(float *)(param_1 + 0x2c) - fVar5) * (*(float *)(param_1 + 0x2c) - fVar5));
    lVar16 = (longdouble)
             SurvivorPathCost::operator()
                       (param_5,param_1,(CNavArea *)0x0,(CNavLadder *)0x0,(CFuncElevator *)0x0,-1.0)
    ;
    if (0.0 <= (float)lVar16) {
      *(float *)(param_1 + 0x44) = (float)lVar16;
      *(undefined4 *)(param_1 + 0x80) = 0;
      CNavArea::AddToOpenList(param_1);
      if (param_6 != (CNavArea **)0x0) {
        *param_6 = param_1;
      }
      fVar17 = fVar5 - fVar2;
      fVar23 = fVar7 - fVar3;
      fVar19 = fVar6 - fVar4;
      local_80 = *(float *)(param_1 + 0x40);
LAB_0096cc5b:
      do {
        pCVar11 = CNavArea::m_openList;
        if (CNavArea::m_openList == (CNavArea *)0x0) break;
        CNavArea::RemoveFromOpenList(CNavArea::m_openList);
        *(undefined4 *)(pCVar11 + 0x4c) = 0;
        *(undefined4 *)(pCVar11 + 0x48) = 0;
        if (0 < iVar9) {
          (**(code **)(*(int *)pCVar11 + 0x54))(pCVar11,0,0xff,0,0x80,0x41f00000,1);
        }
        cVar10 = CNavArea::IsBlocked(pCVar11,param_8,param_9);
        if (cVar10 == '\0') {
          if ((param_2 != pCVar11) &&
             (((local_66 == '\0' || (param_4 == (Vector *)0x0)) ||
              (cVar10 = CNavArea::Contains(pCVar11,param_4), cVar10 == '\0')))) {
            local_54 = pCVar11 + 0x58;
            local_6c = 0;
            iVar12 = 0;
            local_64 = (CNavArea *)0x0;
            bVar15 = true;
            local_48 = 0;
            local_40 = 0;
LAB_0096cdf0:
            if (local_40 != 0) goto LAB_0096cfe8;
            do {
              piVar13 = *(int **)local_54;
              if (*piVar13 <= iVar12) {
                do {
                  local_48 = local_48 + 1;
                  if (local_48 == 4) {
                    local_64 = pCVar11 + 0x68;
                    local_6c = 0;
                    iVar12 = 0;
                    local_40 = 1;
                    goto LAB_0096d0a0;
                  }
                  iVar12 = 0;
                  local_54 = pCVar11 + local_48 * 4 + 0x58;
                  piVar13 = *(int **)local_54;
                } while (*piVar13 < 1);
              }
              this = (CNavArea *)piVar13[iVar12 * 2 + 1];
              if ((param_1 == pCVar11) || (this == param_2)) {
                if (param_1 == pCVar11) {
                  local_50 = SQRT(fVar17 * fVar17 + fVar23 * fVar23 + fVar19 * fVar19);
                  if (this == param_2) goto LAB_0096ce49;
                  fVar20 = *(float *)(this + 0x2c) - fVar2;
                  fVar18 = *(float *)(this + 0x30) - fVar4;
                  fVar21 = *(float *)(this + 0x34) - fVar3;
                }
                else {
                  fVar21 = fVar5 - *(float *)(pCVar11 + 0x2c);
                  fVar20 = fVar6 - *(float *)(pCVar11 + 0x30);
                  fVar18 = fVar7 - *(float *)(pCVar11 + 0x34);
                }
                local_50 = SQRT(fVar18 * fVar18 + fVar20 * fVar20 + fVar21 * fVar21);
              }
              else {
                local_50 = (float)piVar13[iVar12 * 2 + 2];
              }
LAB_0096ce49:
              iVar12 = iVar12 + 1;
              local_58 = (CFuncElevator *)0x0;
              local_4c = (CNavLadder *)0x0;
              local_5c = local_48;
              while( true ) {
                    /* try { // try from 0096ce75 to 0096d300 has its CatchHandler @ 0096d31f */
                if ((this == pCVar11) ||
                   (cVar10 = CNavArea::IsBlocked(this,param_8,param_9), cVar10 != '\0'))
                goto LAB_0096cdf0;
                lVar16 = (longdouble)
                         SurvivorPathCost::operator()
                                   (param_5,this,pCVar11,local_4c,local_58,local_50);
                fVar21 = (float)lVar16;
                if (fVar21 < 0.0) goto LAB_0096cdf0;
                if (0.0 < param_7) {
                  fVar18 = SQRT((*(float *)(this + 0x30) - *(float *)(pCVar11 + 0x30)) *
                                (*(float *)(this + 0x30) - *(float *)(pCVar11 + 0x30)) +
                                (*(float *)(this + 0x34) - *(float *)(pCVar11 + 0x34)) *
                                (*(float *)(this + 0x34) - *(float *)(pCVar11 + 0x34)) +
                                (*(float *)(this + 0x2c) - *(float *)(pCVar11 + 0x2c)) *
                                (*(float *)(this + 0x2c) - *(float *)(pCVar11 + 0x2c))) +
                           *(float *)(pCVar11 + 0x80);
                  if (param_7 < fVar18) goto LAB_0096cdf0;
                  *(float *)(this + 0x80) = fVar18;
                }
                iVar14 = *(int *)(this + 0x50);
                if (((iVar14 == CNavArea::m_masterMarker) ||
                    (CNavArea::m_masterMarker == *(int *)(this + 0x3c))) &&
                   (*(float *)(this + 0x44) <= fVar21)) goto LAB_0096cdf0;
                fVar18 = (*(float *)(this + 0x34) - fVar7) * (*(float *)(this + 0x34) - fVar7) +
                         (*(float *)(this + 0x2c) - fVar5) * (*(float *)(this + 0x2c) - fVar5) +
                         (*(float *)(this + 0x30) - fVar6) * (*(float *)(this + 0x30) - fVar6);
                fVar20 = 0.0;
                if (0.0 < fVar18) {
                  auVar22 = rsqrtss(ZEXT416((uint)fVar18),ZEXT416((uint)fVar18));
                  fVar20 = auVar22._0_4_ * fVar18;
                }
                if ((fVar20 < local_80) && (param_6 != (CNavArea **)0x0)) {
                  *param_6 = this;
                  iVar14 = *(int *)(this + 0x50);
                  local_80 = fVar20;
                }
                iVar8 = CNavArea::m_masterMarker;
                *(float *)(this + 0x44) = fVar21;
                *(float *)(this + 0x40) = fVar21 + fVar20;
                if (iVar14 == iVar8) {
                  CNavArea::UpdateOnOpenList(this);
                }
                else {
                  CNavArea::AddToOpenList(this);
                }
                *(CNavArea **)(this + 0x78) = pCVar11;
                this[0x7c] = (CNavArea)((byte)this[0x7c] & 0xf0 | (byte)local_5c & 0xf);
                if (local_40 == 0) break;
LAB_0096cfe8:
                if (local_40 == 1) {
LAB_0096d0a0:
                  do {
                    piVar13 = *(int **)local_64;
                    if (*piVar13 <= iVar12) {
                      do {
                        if (!bVar15) {
                          iVar12 = 0;
                          local_40 = 2;
                          goto LAB_0096cff2;
                        }
                        local_64 = pCVar11 + 0x6c;
                        iVar12 = 0;
                        bVar15 = false;
                        piVar13 = *(int **)local_64;
                      } while (*piVar13 < 1);
                    }
                    local_4c = (CNavLadder *)piVar13[iVar12 + 1];
                    if (bVar15) {
                      if (local_6c == 0) {
                        this = *(CNavArea **)(local_4c + 0x24);
                      }
                      else if (local_6c == 1) {
                        this = *(CNavArea **)(local_4c + 0x28);
                      }
                      else {
                        if (local_6c != 2) {
                          iVar12 = iVar12 + 1;
                          local_6c = 0;
                          goto LAB_0096d0a0;
                        }
                        this = *(CNavArea **)(local_4c + 0x2c);
                      }
                      local_6c = local_6c + 1;
                      local_5c = 4;
                    }
                    else {
                      this = *(CNavArea **)(local_4c + 0x34);
                      iVar12 = iVar12 + 1;
                      local_5c = 5;
                    }
                  } while (this == (CNavArea *)0x0);
                  local_58 = (CFuncElevator *)0x0;
                  local_50 = -1.0;
                }
                else {
LAB_0096cff2:
                  if (((byte)pCVar11[0x57] & 0x40) == 0) {
LAB_0096d1e7:
                    *(int *)(pCVar11 + 0x3c) = CNavArea::m_masterMarker;
                    goto LAB_0096cc5b;
                  }
                  if (CNavArea::GetElevatorAreas()::empty == '\0') {
                    iVar14 = __cxa_guard_acquire(&CNavArea::GetElevatorAreas()::empty);
                    if (iVar14 != 0) {
                      if ((CUtlVectorUltraConservative<NavConnect,CUtlVectorUltraConservativeAllocator>
                           ::StaticData()::staticData == '\0') &&
                         (iVar14 = __cxa_guard_acquire(&
                                                  CUtlVectorUltraConservative<NavConnect,CUtlVectorUltraConservativeAllocator>
                                                  ::StaticData()::staticData), iVar14 != 0)) {
                        __cxa_guard_release(&CUtlVectorUltraConservative<NavConnect,CUtlVectorUltraConservativeAllocator>
                                             ::StaticData()::staticData);
                      }
                      CNavArea::GetElevatorAreas()::empty =
                           &CUtlVectorUltraConservative<NavConnect,CUtlVectorUltraConservativeAllocator>
                            ::StaticData()::staticData;
                      __cxa_guard_release(&CNavArea::GetElevatorAreas()::empty);
                      __cxa_atexit(CUtlVectorUltraConservative<NavConnect,CUtlVectorUltraConservativeAllocator>
                                   ::~CUtlVectorUltraConservative,
                                   &CNavArea::GetElevatorAreas()::empty,&__dso_handle);
                    }
                    if ((*(uint *)(pCVar11 + 0x54) & 0x40000000) == 0) goto LAB_0096d1e7;
                  }
                  local_58 = *(CFuncElevator **)(pCVar11 + 0x84);
                  if ((local_58 == (CFuncElevator *)0x0) || (**(int **)(pCVar11 + 0x88) <= iVar12))
                  goto LAB_0096d1e7;
                  this = (CNavArea *)(*(int **)(pCVar11 + 0x88))[iVar12 * 2 + 1];
                  iVar12 = iVar12 + 1;
                  local_4c = (CNavLadder *)0x0;
                  if (*(float *)(this + 0x34) < *(float *)(pCVar11 + 0x34) ||
                      *(float *)(this + 0x34) == *(float *)(pCVar11 + 0x34)) {
                    local_5c = 8;
                    local_50 = -1.0;
                  }
                  else {
                    local_5c = 7;
                    local_50 = -1.0;
                  }
                }
              }
            } while( true );
          }
          if (param_6 == (CNavArea **)0x0) goto LAB_0096d2dd;
          bVar15 = true;
          *param_6 = pCVar11;
          goto LAB_0096cc67;
        }
      } while( true );
    }
  }
LAB_0096cc65:
  bVar15 = false;
LAB_0096cc67:
  iVar9 = _DAT_0105db00;
  if (((DAT_0105d158 == '\0') || (_DAT_0105d154 != 0)) &&
     (iVar12 = ThreadGetCurrentId(), iVar9 == iVar12)) {
    cVar10 = CVProfNode::ExitScope();
    if (cVar10 != '\0') {
      _DAT_0105d15c = (int *)_DAT_0105d15c[0x19];
    }
    DAT_0105d158 = _DAT_0105d15c == (int *)0x105d160;
  }
  if (local_20 != 0) {
    (**(code **)(local_20 + 0x54))(local_20,local_28,local_24,0,0,0);
  }
  return bVar15;
}