public void Connect(int v, int w)
{
if (IsConnected(w, v))
{
return;
}
double d = GetDistance(w, v);
DirectedWeightedEdge edge1 = new DirectedWeightedEdge(v, w, d);
DirectedWeightedEdge edge2 = new DirectedWeightedEdge(w, v, d);
adj[v].Add(edge1);
adj[w].Add(edge2);
}
private void Relax(GridWorld G, DirectedWeightedEdge e)
{
int v = e.From();
int w = e.To();
if (cost[w] > cost[v] + e.Weight)
{
cost[w] = cost[v] + e.Weight;
edgeTo[w] = e;
if (!pq.Contains(w))
{
pq.Insert(w, cost[w]);
}
else
{
pq.DecreaseKey(w, cost[w]);
}
}
}