public static void Helper_WeightNavGraphNodeEdges(SparseGraph graph, int node, double weight)
{
//make sure the node is present
Debug.Assert(node < graph.NumNodes(), "Node can not exist in graph!");
//set the cost for each edge
SparseGraph.EdgeIterator EdgeItr = new SparseGraph.EdgeIterator(graph, node);
while (EdgeItr.MoveNext())
{
//calculate the distance between nodes
double dist = Vector2D.Vec2DDistance(graph.GetNode(EdgeItr.Current.From).Pos,
graph.GetNode(EdgeItr.Current.To).Pos);
//set the cost of this edge
graph.SetEdgeCost(EdgeItr.Current.From, EdgeItr.Current.To, dist * weight);
//if not a digraph, set the cost of the parallel edge to be the same
if (!graph.isDigraph())
{
graph.SetEdgeCost(EdgeItr.Current.To, EdgeItr.Current.From, dist * weight);
}
}
}
