public SeekingNode(int id, float g, float h, SeekingNode parent, object data)
{
this.ID = id;
this.G = g;
this.H = h;
this.Parent = parent;
this.Data = data;
}
public int RemoveFromClosed(SeekingNode sn)
{
int index = this.closed.BinarySearch(sn);
if (index >= 0)
{
this.closed.RemoveAt(index);
}
return(index);
}
public int RemoveFromOpening(SeekingNode sn)
{
int index = this.opening.BinarySearch(sn);
if (index >= 0)
{
this.opening.RemoveAt(index);
}
return(index);
}
public int InsertIntoClosed(SeekingNode sn)
{
int index = this.closed.BinarySearch(sn);
if (index < 0)
{
this.closed.Insert(~index, sn);
return(~index);
}
return(-1);
}
public int InsertIntoOpening(SeekingNode sn)
{
int index = this.opening.BinarySearch(sn);
if (index < 0)
{
this.opening.Insert(~index, sn);
return(~index);
}
return(-1);
}
public SeekingNode PopLowestWeightInOpening()
{
int index = 0;
for (int i = 1; i < this.opening.Count; i++)
{
if (this.opening[i].F < this.opening[index].F)
{
index = i;
}
}
SeekingNode sn = this.opening[index];
InsertIntoClosed(sn);
RemoveFromOpening(index);
return(sn);
}
public int CompareTo(object obj)
{
int result = -1;
try
{
SeekingNode sn = obj as SeekingNode;
if (sn != null)
{
result = this.ID - sn.ID;
}
else
{
result = this.ID - (int)obj;
}
}
catch (Exception ex)
{
XxdwDebugger.Log(ex.Message);
}
return(result);
}
public bool IsInClosed(SeekingNode sn)
{
return(this.closed.BinarySearch(sn) >= 0);
}
public bool IsInOpening(SeekingNode sn)
{
return(this.opening.BinarySearch(sn) >= 0);
}
