/// <summary>
/// Inserts an object into the heap
/// </summary>
/// <param name="node">The node to be inserted</param>
/// <param name="priority">The priority of the node</param>
public void Insert(T node, float priority)
{
if (node == null)
{
return;
}
if (HeapContainsNode(node))
{
return;
}
if (size + 1 == heap.Length)
{
DoubleArray();
}
PriorityNode <T> n = new PriorityNode <T>(node, priority);
int hole = ++size;
heap[0] = n;
for (; n.priority < heap[hole / 2].priority && hole > 1; hole /= 2)
{
heap[hole] = heap[hole / 2];
}
heap[hole] = n;
}
/// <summary>
/// Doubles the current heap
/// </summary>
private void DoubleArray()
{
PriorityNode <T>[] temp = new PriorityNode <T> [heap.Length * 2];
for (int i = 1; i < heap.Length; i++)
{
temp[i] = heap[i];
}
heap = temp;
}