public void SearchInit()
{
nodescount = 0;
isOver = false;
TargetPath.Clear();
TargetNode = nodes = new PathNode(nodescount++);
searchStack.Clear();
searchStack.Push(nodes);
nodes[PathType.Forward] = new PathNode(nodescount++);
nodes[PathType.Forward][PathType.Back] = nodes;
lastNode = nodes[PathType.Forward];
LastDir.Reset();
LastPathDirValue.Reset();
setCarNode(nodes);
TurnBack = false;
WayLenght = true;
}
public Bitmap Update()
{
xpos = map.Width / 2;
ypos = map.Height / 2;
Draw.Clear(Color.White);
NodeList.Clear();
DrawPathList(xpos, ypos, nodes);
DrawTargetPath();
updateCar(lastlenght);
//DrawPath(xpos,ypos,nodes);
//findDir.Rotate(PathType.Back);
//DrawPath(nodes[PathType.Forward].x, nodes[PathType.Forward].y, nodes[PathType.Forward],PathType.Back);
findDir.Reset();
return(map);
}