public dtNode pop()
{
dtNode result = m_heap[0];
m_size--;
trickleDown(0, m_heap[m_size]);
return(result);
}
public uint getNodeIdx(dtNode node)
{
if (node == null)
{
return(0);
}
return((uint)(System.Array.IndexOf(m_nodes, node)) + 1);
}
public void modify(dtNode node)
{
for (int i = 0; i < m_size; ++i)
{
if (m_heap[i] == node)
{
bubbleUp(i, node);
return;
}
}
}
public void bubbleUp(int i, dtNode node)
{
int parent = (i - 1) / 2;
while ((i > 0) && (m_heap[parent].total > node.total))
{
m_heap[i] = m_heap[parent];
i = parent;
parent = (i - 1) / 2;
}
m_heap[i] = node;
}
public void trickleDown(int i, dtNode node)
{
int child = (i * 2) + 1;
while (child < m_size)
{
if (((child + 1) < m_size) &&
(m_heap[child].total > m_heap[child + 1].total))
{
child++;
}
m_heap[i] = m_heap[child];
i = child;
child = (i * 2) + 1;
}
bubbleUp(i, node);
}
public dtNode getNode(dtPolyRef id, uint state)
{
uint bucket = (uint)(DetourNode.dtHashRef(id) & (m_hashSize - 1));
dtNodeIndex i = m_first[bucket];
dtNode node = null;
while (i != DetourNode.DT_NULL_IDX)
{
if (m_nodes[i].id == id && m_nodes[i].state == state)
{
return(m_nodes[i]);
}
i = m_next[i];
}
if (m_nodeCount >= m_maxNodes)
{
return(null);
}
i = (dtNodeIndex)m_nodeCount;
m_nodeCount++;
node = m_nodes[i];
node.pidx = 0;
node.cost = 0;
node.total = 0;
node.id = id;
node.state = state;
node.flags = 0;
m_next[i] = m_first[bucket];
m_first[bucket] = i;
return(node);
}
public void trickleDown(int i, dtNode node)
{
int child = (i * 2) + 1;
while (child < m_size)
{
if (((child + 1) < m_size) &&
(m_heap[child].total > m_heap[child + 1].total))
{
child++;
}
m_heap[i] = m_heap[child];
i = child;
child = (i * 2) + 1;
}
bubbleUp(i, node);
}
public void bubbleUp(int i, dtNode node)
{
int parent = (i - 1) / 2;
while ((i > 0) && (m_heap[parent].total > node.total))
{
m_heap[i] = m_heap[parent];
i = parent;
parent = (i - 1) / 2;
}
m_heap[i] = node;
}
public void modify(dtNode node)
{
for (int i = 0; i < m_size; ++i)
{
if (m_heap[i] == node)
{
bubbleUp(i, node);
return;
}
}
}
public void push(dtNode node)
{
m_size++;
bubbleUp(m_size - 1, node);
}
public uint getNodeIdx(dtNode node)
{
if (node == null)
return 0;
return (uint)(System.Array.IndexOf(m_nodes, node)) + 1;
}
public void push(dtNode node)
{
m_size++;
bubbleUp(m_size - 1, node);
}
