public void Form1_Load(object sender, EventArgs e) { drones = new Drones[3]; drones[0] = new Drones("Vulcan Black Widow", 500, 100, 5); drones[1] = new Drones("Vulcan Payload Development", 5000, 150, 5); drones[2] = new Drones("Vulcan Airlift", 1000, 150, 10); string[] drone = new string[3]; for (int i = 0; i < 3; i++) { drone[i] = drones[i].name; } LoadData loader = new LoadData(); string filepath = @"e:\data source\addressbook.map"; //addressbook file path string addressBook = null, routes = null; int numLines = loader.fileDecrypt(filepath, ref addressBook); nodes = new Graph[(numLines - 1) * 4]; object[] addresses = new string[numLines - 1]; loader.loadNodes(addressBook, numLines, ref nodes); filepath = @"e:\data source\routes.map"; //routes file path loader.fileDecrypt(filepath, ref routes); loader.loadRoutes(routes, ref nodes); //загрузка соседей в каждый нод for (int i = 0; i < numLines - 1; i++) { addresses[i] = nodes[i].street + " " + nodes[i].house; } comboBox2.Items.AddRange(addresses); comboBox1.Items.AddRange(drone); mapBrowser.Navigate("https://www.google.ru/maps/@55.0457912,82.9236788,16.91z"); routing route = new routing(); map = new Graph[41, 41, 4]; grid = new SquareGrid(41, 41, 4); route.MapMaker(ref map, nodes, 41, 41, 4, 55.041513, 82.916838); }
public static string[] DrawGrid(SquareGrid grid, AStarSearch astar, Location start, Location goal) { string[] output = new string[4]; // Печать массива cameFrom for (int z = 0; z < 4; z++) { for (var y = 0; y < 41; y++) { for (var x = 0; x < 41; x++) { Location id = new Location(x, y, z); Location ptr = id; if (!astar.cameFrom.TryGetValue(id, out ptr)) { ptr = id; } if (start.x == x && start.y == y && start.z == z) /*Console.Write("\u2191 ");*/ x { ++; output[z] += "S"; } if (goal.x == x && goal.y == y && goal.z == z) /*Console.Write("\u2191 ");*/ x { ++; output[z] += "F"; } if (grid.walls.Contains(id)) /*Console.Write("##");*/ output {