Pathfinding.BinaryHeapM.Add C# (CSharp) 메소드

		public void Add(PathNode node) {
			
			if (node == null) throw new System.ArgumentNullException ("Sending null node to BinaryHeap");
			
			if (numberOfItems == binaryHeap.Length) {
				int newSize = System.Math.Max(binaryHeap.Length+4,(int)System.Math.Round(binaryHeap.Length*growthFactor));
				if (newSize > 1<<18) {
					throw new System.Exception ("Binary Heap Size really large (2^18). A heap size this large is probably the cause of pathfinding running in an infinite loop. " +
						"\nRemove this check (in BinaryHeap.cs) if you are sure that it is not caused by a bug");
				}
				
				PathNode[] tmp = new PathNode[newSize];
				for (int i=0;i<binaryHeap.Length;i++) {
					tmp[i] = binaryHeap[i];
				}
#if ASTARDEBUG
				Debug.Log ("Resizing binary heap to "+newSize);
#endif
				binaryHeap = tmp;
				
				//Debug.Log ("Forced to discard nodes because of binary heap size limit, please consider increasing the size ("+numberOfItems +" "+binaryHeap.Length+")");
				//numberOfItems--;
			}
			
			binaryHeap[numberOfItems] = node;
			//node.heapIndex = numberOfItems;//Heap index
			
			int bubbleIndex = numberOfItems;
			uint nodeF = node.F;
			
			while (bubbleIndex != 1) {
				int parentIndex = bubbleIndex / 2;
				
				if (nodeF < binaryHeap[parentIndex].F) {
				   	
					//binaryHeap[bubbleIndex].f <= binaryHeap[parentIndex].f) { /* \todo Wouldn't it be more efficient with '<' instead of '<=' ? * /
					//Node tmpValue = binaryHeap[parentIndex];
					
					//tmpValue.heapIndex = bubbleIndex;//HeapIndex
					
					binaryHeap[bubbleIndex] = binaryHeap[parentIndex];
					binaryHeap[parentIndex] = node;//binaryHeap[bubbleIndex];
					
					//binaryHeap[bubbleIndex].heapIndex = bubbleIndex; //Heap index
					//binaryHeap[parentIndex].heapIndex = parentIndex; //Heap index
					
					bubbleIndex = parentIndex;
				} else {
				/*if (binaryHeap[bubbleIndex].f <= binaryHeap[parentIndex].f) { /* \todo Wouldn't it be more efficient with '<' instead of '<=' ? *
					Node tmpValue = binaryHeap[parentIndex];
					
					//tmpValue.heapIndex = bubbleIndex;//HeapIndex
					
					
					binaryHeap[parentIndex] = binaryHeap[bubbleIndex];
					binaryHeap[bubbleIndex] = tmpValue;
					
					bubbleIndex = parentIndex;
				} else {*/
					break;
				}
			}
								 
			numberOfItems++;
		}
		

 /** Push a node to the heap */
 public void PushNode(PathNode node)
 {
     heap.Add(node);
 }