public PathNode Remove()
{
this.numberOfItems--;
PathNode node = this.binaryHeap[0].node;
this.binaryHeap[0] = this.binaryHeap[this.numberOfItems];
int num = 0;
while (true)
{
int num2 = num;
uint f = this.binaryHeap[num].F;
int num3 = num2 * 4 + 1;
if (num3 <= this.numberOfItems && (this.binaryHeap[num3].F < f || (this.binaryHeap[num3].F == f && this.binaryHeap[num3].node.G < this.binaryHeap[num].node.G)))
{
f = this.binaryHeap[num3].F;
num = num3;
}
if (num3 + 1 <= this.numberOfItems && (this.binaryHeap[num3 + 1].F < f || (this.binaryHeap[num3 + 1].F == f && this.binaryHeap[num3 + 1].node.G < this.binaryHeap[num].node.G)))
{
f = this.binaryHeap[num3 + 1].F;
num = num3 + 1;
}
if (num3 + 2 <= this.numberOfItems && (this.binaryHeap[num3 + 2].F < f || (this.binaryHeap[num3 + 2].F == f && this.binaryHeap[num3 + 2].node.G < this.binaryHeap[num].node.G)))
{
f = this.binaryHeap[num3 + 2].F;
num = num3 + 2;
}
if (num3 + 3 <= this.numberOfItems && (this.binaryHeap[num3 + 3].F < f || (this.binaryHeap[num3 + 3].F == f && this.binaryHeap[num3 + 3].node.G < this.binaryHeap[num].node.G)))
{
f = this.binaryHeap[num3 + 3].F;
num = num3 + 3;
}
if (num2 == num)
{
break;
}
BinaryHeapM.Tuple tuple = this.binaryHeap[num2];
this.binaryHeap[num2] = this.binaryHeap[num];
this.binaryHeap[num] = tuple;
}
return(node);
}
public void Rebuild()
{
for (int i = 2; i < this.numberOfItems; i++)
{
int num = i;
BinaryHeapM.Tuple tuple = this.binaryHeap[i];
uint f = tuple.F;
while (num != 1)
{
int num2 = num / 4;
if (f >= this.binaryHeap[num2].F)
{
break;
}
this.binaryHeap[num] = this.binaryHeap[num2];
this.binaryHeap[num2] = tuple;
num = num2;
}
}
}
public void Add(PathNode node)
{
if (node == null)
{
throw new ArgumentNullException("node");
}
if (this.numberOfItems == this.binaryHeap.Length)
{
int num = Math.Max(this.binaryHeap.Length + 4, (int)Math.Round((double)((float)this.binaryHeap.Length * this.growthFactor)));
if (num > 262144)
{
throw new Exception("Binary Heap Size really large (2^18). A heap size this large is probably the cause of pathfinding running in an infinite loop. \nRemove this check (in BinaryHeap.cs) if you are sure that it is not caused by a bug");
}
BinaryHeapM.Tuple[] array = new BinaryHeapM.Tuple[num];
for (int i = 0; i < this.binaryHeap.Length; i++)
{
array[i] = this.binaryHeap[i];
}
this.binaryHeap = array;
}
BinaryHeapM.Tuple tuple = new BinaryHeapM.Tuple(node.F, node);
this.binaryHeap[this.numberOfItems] = tuple;
int num2 = this.numberOfItems;
uint f = node.F;
uint g = node.G;
while (num2 != 0)
{
int num3 = (num2 - 1) / 4;
if (f >= this.binaryHeap[num3].F && (f != this.binaryHeap[num3].F || g <= this.binaryHeap[num3].node.G))
{
break;
}
this.binaryHeap[num2] = this.binaryHeap[num3];
this.binaryHeap[num3] = tuple;
num2 = num3;
}
this.numberOfItems++;
}