public void SearchInit()
{
ClearAllPath();
isOver = false;
TargetPath.Clear();
TargetNode = nodes = getNewPathNode();
searchStack.Clear();
searchStack.Push(nodes);
nodes[PathType.Forward] = getNewPathNode();
nodes[PathType.Forward][PathType.Back] = nodes;
lastNode = nodes[PathType.Forward];
LastDir.Reset();
LastPathDirValue.Reset();
setCarNode(nodes);
TurnBack = false;
WayLenght = true;
}
public Bitmap Update()
{
Draw.Clear(Color.White);
NodeList.Clear();
DrawPathList(xpos, ypos, nodes);
DrawTargetPath();
foreach (CarInfo info in CarList)
{
updateCar(info);
}
//updateCar((int)(lastlenght*Scale));
//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);
}
