public void setStartAndGoal(int x0, int y0, int xn, int yn)
{
_nodeStart = new heapNode(x0, y0);
_nodeGoal = new heapNode(xn, yn);
_heap = new HeapSort(ref _openList);
// add a new element, and re-build the heap
_heap.push_heap(_nodeStart);
}
//a simple test for debug
public static void debug()
{
heapNode a = new heapNode();
a._f = 9;
heapNode b = new heapNode();
b._f = 50;
heapNode c = new heapNode();
c._f = 21;
heapNode d = new heapNode();
d._f = 98;
heapNode e = new heapNode();
e._f = 55;
List <heapNode> tmpList = new List <heapNode>();
tmpList.Add(a);
HeapSort hs = new HeapSort(ref tmpList);
hs.push_heap(b);
hs.push_heap(c);
hs.push_heap(d);
hs.push_heap(e);
hs.pruneToSize(2);
heapNode x = hs.pop_heap();
Console.WriteLine(x._f);
x = hs.pop_heap();
Console.WriteLine(x._f);
x = hs.pop_heap();
Console.WriteLine(x._f);
x = hs.pop_heap();
Console.WriteLine(x._f);
x = hs.pop_heap();
Console.WriteLine(x._f);
}