public heapnode parent; //parent of this node
public heapnode(int gcost, int hcost, int x,int y, heapnode parent)
{
this.gcost = gcost;
this.hcost = hcost;
calculatefcost();
this.x = x;
this.y = y;
this.parent = parent;
}
public void addtoheap(int gcost, int hcost, int x, int y, heapnode parent)
{
//append to the end of the array
heaparray[nodecounter] = new heapnode(gcost, hcost, x, y, parent);
nodecounter++;
//compare to other values in the array until it is sorted
int index = nodecounter-1; //index of the current node
while(index>1 && heaparray[index].fcost < heaparray[index/2].fcost)
{
swapwithparent(index);
index = index/2;
}
}
public void addtoheap(heapnode node)
{
//append to the end of the array
heaparray[nodecounter] = node;
nodecounter++;
//compare to other values in the array until it is sorted
int index = nodecounter-1; //index of the current node
if(nodecounter>2) //if there's at least 2 elements in the array
{
while(index>1 && heaparray[index].fcost < heaparray[index/2].fcost)
{
swapwithparent(index);
index = index/2;
}
}
}
public binaryheap(heapnode firstnode)
{
heaparray[1] = firstnode;
nodecounter++;
}
//trace the path
public List<int[]> tracepath(heapnode node)
{
List<int[]> pathlist = new List<int[]>();
if(node.parent != null)
{
pathlist.AddRange(tracepath(node.parent));
}
pathlist.Add(new int[]{node.x, node.y}); //add the node to the list
return pathlist;
}
//swaps a node with it's parent
public void swapwithparent(int index)
{
//swap positions in the array
tempnode = heaparray[index]; //save current node to temporary location
heaparray[index] = heaparray[index/2]; //replace current node with parent node
heaparray[index/2] = tempnode; //replace parent node with saved current node
}
public void replacenode(heapnode newnode)
{
for(int i=1; i<nodecounter; i++)
{
if(heaparray[i].x == newnode.x && heaparray[i].y == newnode.y)
{
heaparray[i] = newnode;
return ;
}
}
}
//trace the path
void tracepath(heapnode node)
{
pathlist = new List<int[]>();
if(node.parent != null)
{
tracepath(node.parent);
}
//Debug.Log(node.x + "," + node.y + " on path");
pathlist.Add(new int[]{node.x, node.y}); //add the node to the list
return;
}
