private void BHInsertCell(CellSearch ns)
{
//We use index 0 as the root!
if (sortedOpenList.Count == 0)
{
sortedOpenList.Add(ns);
openList [ns.ID].sortedIndex = 0;
return;
}
sortedOpenList.Add(ns);
bool canMoveFurther = true;
int index = sortedOpenList.Count - 1;
openList [ns.ID].sortedIndex = index;
while (canMoveFurther)
{
int parent = (int)Math.Floor(((double)(index - 1) / 2));
if (index == 0) //We are the root
{
canMoveFurther = false;
openList [sortedOpenList [index].ID].sortedIndex = 0;
}
else
{
if (sortedOpenList [index].F < sortedOpenList [parent].F)
{
CellSearch s = sortedOpenList [parent];
sortedOpenList [parent] = sortedOpenList [index];
sortedOpenList [index] = s;
//Save sortedlist index's for faster look up
openList [sortedOpenList [index].ID].sortedIndex = index;
openList [sortedOpenList [parent].ID].sortedIndex = parent;
//Reset index to parent ID
index = parent;
}
else
{
canMoveFurther = false;
}
}
}
}
private void BHSortCell(int id, int F)
{
bool canMoveFurther = true;
int index = openList [id].sortedIndex;
sortedOpenList [index].F = F;
while (canMoveFurther)
{
int parent = (int)Math.Floor((double)(index - 1) / 2);
if (index == 0) //We are the root
{
canMoveFurther = false;
openList [sortedOpenList [index].ID].sortedIndex = 0;
}
else
{
if (sortedOpenList [index].F < sortedOpenList [parent].F)
{
CellSearch s = sortedOpenList [parent];
sortedOpenList [parent] = sortedOpenList [index];
sortedOpenList [index] = s;
//Save sortedlist index's for faster look up
openList [sortedOpenList [index].ID].sortedIndex = index;
openList [sortedOpenList [parent].ID].sortedIndex = parent;
//Reset index to parent ID
index = parent;
}
else
{
canMoveFurther = false;
}
}
}
}
private int BHGetLowest()
{
if (sortedOpenList.Count == 1) //Remember 0 is our root
{
int ID = sortedOpenList [0].ID;
sortedOpenList.RemoveAt(0);
return(ID);
}
else if (sortedOpenList.Count > 1)
{
//save lowest not, take our leaf as root, and remove it! Then switch through children to find right place.
int ID = sortedOpenList [0].ID;
sortedOpenList [0] = sortedOpenList [sortedOpenList.Count - 1];
sortedOpenList.RemoveAt(sortedOpenList.Count - 1);
openList [sortedOpenList [0].ID].sortedIndex = 0;
int index = 0;
bool canMoveFurther = true;
//Sort the list before returning the ID
while (canMoveFurther)
{
int child1 = (index * 2) + 1;
int child2 = (index * 2) + 2;
int switchIndex = -1;
if (child1 < sortedOpenList.Count)
{
switchIndex = child1;
}
else
{
break;
}
if (child2 < sortedOpenList.Count)
{
if (sortedOpenList [child2].F < sortedOpenList [child1].F)
{
switchIndex = child2;
}
}
if (sortedOpenList [index].F > sortedOpenList [switchIndex].F)
{
CellSearch ns = sortedOpenList [index];
sortedOpenList [index] = sortedOpenList [switchIndex];
sortedOpenList [switchIndex] = ns;
//Save sortedlist index's for faster look up
openList [sortedOpenList [index].ID].sortedIndex = index;
openList [sortedOpenList [switchIndex].ID].sortedIndex = switchIndex;
//Switch around idnex
index = switchIndex;
}
else
{
break;
}
}
return(ID);
}
else
{
return(-1);
}
}
