【类 型】：refactor

【主	题】：界面修改
【描	述】：
	[原因]：
	[过程]：
	[影响]：
【结	束】

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动

FlightRouteV2/FlightRouteV2.cs

@@ -411,7 +411,7 @@ namespace FlightRouteV2
         /// <summary>
         /// 飞行过程中间距 平方值
         /// </summary>
-        public static double SpaceBetweenSquare { get; set; } = 62500;
+        public static double SpaceBetweenSquare { get; set; } = 250000;
         /// <summary>
         /// 算绕行时 中间取点 true在正中间取点即 一个圆盘 false在一个圆柱体内取点
         /// </summary>
@@ -558,7 +558,7 @@ namespace FlightRouteV2
             Dictionary<int, List<int>> graph = new Dictionary<int, List<int>>();
             Dictionary<int, bool> visited = new Dictionary<int, bool>();
             List<List<int>> result = new List<List<int>>();
-            
+
             // 构建图
             foreach (var edge in arr)
             {
@@ -648,40 +648,34 @@ namespace FlightRouteV2
             return new_bVecs;
         }
         /// <summary>
-        /// 从一组向量集合中 不重复的随机选择4个向量为一组 最多100组 组合成二维数组 如:[[1,2,3,4][5,6,7,8]...]
+        /// 从数组中删除指定索引处的元素
         /// </summary>
-        /// <param name="vecs">坐标集和</param>
+        /// <typeparam name="T">数组元素类型</typeparam>
-        /// <returns>re空数组则代表不够4个坐标 </returns>
+        /// <param name="array">要操作的数组</param>
-        private static List<Vector3[]> RandomSel4Vec(Vector3[] vecs)
+        /// <param name="indicesToRemove">要删除的元素的索引列表</param>
+        /// <returns>删除元素后的新数组</returns>
+        private static T[] RemoveElementsAtIndices<T>(T[] array, List<int> indicesToRemove)
         {
-            List<Vector3[]> result = new List<Vector3[]>();
+            // 检查索引是否有效
-            int len = vecs.Length;
+            if (indicesToRemove == null || indicesToRemove.Count == 0)
-            // 如果坐标数组少于4个，或者为空，则返回空列表
-            if (len < 4)
             {
-                return result;
+                // 没有要删除的索引，返回原数组
+                return array;
             }
-            // 确定最大可选择的组数，最多为100组
+            // 创建一个新数组，长度为原数组长度减去要删除的元素数量
-            int numGroups = Math.Min(len / 4, 100);
+            T[] newArray = new T[array.Length - indicesToRemove.Count];
-            List<Vector3> flattenedList = vecs.ToList();
+            int newIndex = 0;
-            Random random = new Random();
+            // 复制不包括指定索引的元素到新数组中
-            // 遍历每一组
+            for (int i = 0; i < array.Length; i++)
-            for (int i = 0; i < numGroups; i++)
             {
-                List<Vector3> selectedGroup = new List<Vector3>();
+                if (!indicesToRemove.Contains(i))
-
-                // 随机选择4个不重复的坐标
-                for (int j = 0; j < 4; j++)
                 {
-                    int index = random.Next(flattenedList.Count);
+                    newArray[newIndex] = array[i];
-                    selectedGroup.Add(flattenedList[index]);
+                    newIndex++;
-                    flattenedList.RemoveAt(index);
                 }
-
-                // 将选择的坐标组成的 List 转换为数组，并添加到结果中
-                result.Add(selectedGroup.ToArray());
             }
-            return result;
+            // 返回新数组
+            return newArray;
         }
         /// <summary>
         /// 设置中间航点
@@ -725,7 +719,7 @@ namespace FlightRouteV2
             return v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z;
         }
         /// <summary>
-        /// 叉积
+        /// 叉积 ps：法线向量
         /// </summary>
         /// <param name="v1">向量1</param>
         /// <param name="v2">向量2</param>
@@ -743,7 +737,7 @@ namespace FlightRouteV2
         /// <param name="v1">第一个向量</param>
         /// <param name="v2">第二个向量</param>
         /// <returns>角度</returns>
-        public static double AngleBetween(Vector3 v1, Vector3 v2)
+        private static double AngleBetween(Vector3 v1, Vector3 v2)
         {
             // 计算点积
             double dotProduct = DotPro(v1, v2);
@@ -761,6 +755,77 @@ namespace FlightRouteV2
             return thetaDegrees;
         }
         /// <summary>
+        /// 计算某个点到平面垂线与平面的交点
+        /// </summary>
+        /// <param name="vec1">平面上的点1</param>
+        /// <param name="vec2">平面上的点2</param>
+        /// <param name="vec3">平面上的点3</param>
+        /// <param name="vec4">被求点</param>
+        /// <returns>交点坐标</returns>
+        private static Vector3 CalculateIntersectionPoint(Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4)
+        {
+            // 计算平面的法线向量
+            Vector3 normal = CrossPro(vec2 - vec1, vec3 - vec1);
+            normal.Normalize();
+            // 计算第4个点到平面的距离
+            double distance = DotPro(normal, vec1);
+            // 计算第4个点到平面的投影点坐标
+            double projection = DotPro(normal, vec4) - distance;
+            // 计算交点坐标
+            Vector3 intersectionPoint = vec4 - normal * projection;
+            return intersectionPoint;
+        }
+        /// <summary>
+        /// 找到能组成平面的点的最大数量，并返回组成最大平面的点的索引。
+        /// </summary>
+        /// <param name="vecs">Vector3 点的列表。</param>
+        /// <returns>组成最大平面的点的索引。</returns>
+        private static List<int> FindMaxPlaneIndices(Vector3[] vecs)
+        {
+            int maxPointsOnPlane = 0;
+            List<int> maxPointsIndices = new List<int>(); //记录返回值
+            int planeCou = vecs.Length; // 飞机总数
+            for (int i = 0; i < planeCou; i++)
+            {
+                for (int j = i + 1; j < planeCou; j++)
+                {
+                    for (int k = j + 1; k < planeCou; k++)
+                    {
+                        int currentPointsOnPlane = 3; // 当前遍历的三个点肯定在同一平面上
+
+                        for (int l = k + 1; l < planeCou; l++)
+                        {
+                            if (IsVecsOnPlane(vecs[i], vecs[j], vecs[k], vecs[l]))
+                            {
+                                // 当前的 l 也在同一平面上
+                                currentPointsOnPlane++;
+                            }
+                        }
+
+                        // 检查当前平面是否比之前找到的平面更大
+                        if (currentPointsOnPlane > maxPointsOnPlane)
+                        {
+                            maxPointsOnPlane = currentPointsOnPlane;
+                            maxPointsIndices.Clear();
+                            maxPointsIndices.Add(i);
+                            maxPointsIndices.Add(j);
+                            maxPointsIndices.Add(k);
+
+                            // 添加当前平面的 l 索引
+                            for (int l = k + 1; l < planeCou; l++)
+                            {
+                                if (IsVecsOnPlane(vecs[i], vecs[j], vecs[k], vecs[l]))
+                                {
+                                    maxPointsIndices.Add(l);
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            return maxPointsIndices;
+        }
+        /// <summary>
         /// 检查4个点是否在一个平面上
         /// </summary>
         /// <param name="vector1">点1</param>
@@ -768,14 +833,14 @@ namespace FlightRouteV2
         /// <param name="vector3">点3</param>
         /// <param name="vector4">点4</param>
         /// <returns>true在一个平面 false不在一个平面</returns>
-        public static bool IsVecsOnPlane(Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4)
+        private static bool IsVecsOnPlane(Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4)
         {
             //计算三个向量
             Vector3 v1v2 = vec2 - vec1;
             Vector3 v1v3 = vec3 - vec1;
             Vector3 v1v4 = vec4 - vec1;
             //计算法线向量
-            Vector3 normal_vector = CrossPro(v1v2,v1v3);
+            Vector3 normal_vector = CrossPro(v1v2, v1v3);
             //计算点到平面的距离
             double distance = DotPro(normal_vector, v1v4) / normal_vector.GetMag();
             //设置一个阈值，判断是否共面
@@ -806,7 +871,7 @@ namespace FlightRouteV2
             else return false;
         }
         /// <summary>
-        /// 从顶视图 判断点是否在两条内之间
+        /// 从顶视图 判断点是否在两条线内之间
         /// </summary>
         /// <param name="A">线段1端点</param>
         /// <param name="B">线段1端点</param>
@@ -817,7 +882,7 @@ namespace FlightRouteV2
         private static bool IsPointBetweenLines(Vector3 A, Vector3 B, Vector3 C, Vector3 D, Vector3 P)
         {
             /// Y轴亚平  即顶视图
-            A = new Vector3(A.X,0,A.Z);
+            A = new Vector3(A.X, 0, A.Z);
             B = new Vector3(B.X, 0, B.Z);
             C = new Vector3(C.X, 0, C.Z);
             D = new Vector3(D.X, 0, D.Z);
@@ -1140,7 +1205,7 @@ namespace FlightRouteV2
         /// <param name="aVecs">始点坐标集合</param>
         /// <param name="bVecs">终点坐标集合</param>
         /// <returns></returns>
-        private static List<int[]> AirImitation(Vector3[] aVecs , List<Vector3> bVecs)
+        private static List<int[]> AirImitation(Vector3[] aVecs, List<Vector3> bVecs)
         {
             List<int[]> planesCollision = new List<int[]>(); //所有碰撞的组
             int planeCou = aVecs.Length; //获取飞机总数
@@ -1169,7 +1234,7 @@ namespace FlightRouteV2
         /// <param name="aVecs">始点坐标集合</param>
         /// <param name="bVecs">终点坐标集合</param>
         /// <returns></returns>
-        private static List<int[]> AirImitation( List<Vector3> aVecs, Vector3[] bVecs)
+        private static List<int[]> AirImitation(List<Vector3> aVecs, Vector3[] bVecs)
         {
             List<int[]> planesCollision = new List<int[]>(); //所有碰撞的组
             int planeCou = aVecs.Count; //获取飞机总数
@@ -1302,15 +1367,43 @@ namespace FlightRouteV2
         /// <param name="aVecs">起始点坐标组</param>
         /// <param name="bVecs">目标点坐标组</param>
         /// <param name="StrPrint">日志输出 回调函数</param>
+        /// <param name="isStaticSkip">静态跳过 true跳过即保持原地不动 false不跳过参与“最近和交换”计算</param>
+        /// <param name="staticThresholdSquare">静态距离判断 小于阈值判定为静态 注意是个平方值</param>
         /// <param name="isSwap">交叉航线是否进行交换</param>
         /// <param name="swapCount">交换次数</param>
         /// <param name="crossingLimit">交叉线路数量上限 ps:超过这个数量则不进行交换</param>
         /// <returns>新的目标点</returns>
-        public static Vector3[] ContactABOut(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint, bool isSwap = true, int swapCount = 5, int crossingLimit = 6)
+        public static Vector3[] ContactABOut(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint,bool isStaticSkip = false, double staticThresholdSquare = 25 , bool isSwap = true, int swapCount = 5, int crossingLimit = 6)
         {
             long t = DateTimeOffset.UtcNow.ToUnixTimeSeconds();
             StrPrint("-------智能选择路径计算，开始-------");
             int planeCou = aVecs.Length; // 飞机总数
+            List<int> staticAindex = new List<int>(); // a静态对应关系（ab两图同一位置）
+            List<int> staticBindex = new List<int>(); // b静态对应关系（ab两图同一位置）
+            Vector3[] new_aVecs = aVecs.ToArray();  //a图副本
+            Vector3[] new_bVecs = bVecs.ToArray(); //b图副本
+            ///如果启动 静态航点跳过 把ab静态对应关系找出来 预存放到staticMatch
+            if (isStaticSkip)
+            {
+                for (int i = 0; i < planeCou; i++)
+                {
+                    for (int j = 0; j < planeCou; j++)
+                    {
+                        if (GageLengthSquare(aVecs[i], bVecs[j]) <= staticThresholdSquare)
+                        {
+                            staticAindex.Add(i);
+                            staticBindex.Add(j);
+                            break;
+                        }
+                    }
+                }
+                //把静态的航点从列表里面清除
+                new_aVecs = RemoveElementsAtIndices(new_aVecs, staticAindex); 
+                new_bVecs = RemoveElementsAtIndices(new_bVecs, staticBindex);
+                //刷新飞机总数 以下计算最近 和 交换航线时候 只有非静态飞机参与
+                planeCou = new_aVecs.Length;
+            }
+
             List<int[]> match = new List<int[]>(); // ab对应关系
             ///记录a b集合索引
             List<int> aIndex = new List<int>();
@@ -1330,8 +1423,8 @@ namespace FlightRouteV2
                 List<Vector3> allVecs = new List<Vector3>();
                 for (int i = 0; i < remainCou; i++)
                 {
-                    allVecs.Add(aVecs[aIndex[i]]);
+                    allVecs.Add(new_aVecs[aIndex[i]]);
-                    allVecs.Add(bVecs[bIndex[i]]);
+                    allVecs.Add(new_bVecs[bIndex[i]]);
                 }
                 Vector3 centerVec = GetPosCenter(allVecs);//重心点
                 // 遍历所有ab点距离重心点的距离
@@ -1339,8 +1432,8 @@ namespace FlightRouteV2
                 double[] bLens = new double[remainCou];
                 for (int i = 0; i < remainCou; i++)
                 {
-                    aLens[i] = GageLengthSquare(aVecs[aIndex[i]], centerVec);
+                    aLens[i] = GageLengthSquare(new_aVecs[aIndex[i]], centerVec);
-                    bLens[i] = GageLengthSquare(bVecs[bIndex[i]], centerVec);
+                    bLens[i] = GageLengthSquare(new_bVecs[bIndex[i]], centerVec);
                 }
                 // 找出ab集合最外层坐标的下标 即离重心点最远的点
                 int aMaxIndex = GetIndexOfMaxOrMin(aLens); // a集合到重心点最长的距离 数组的下标
@@ -1350,7 +1443,7 @@ namespace FlightRouteV2
                     double[] outAtoBLen = new double[remainCou];//最外层A点到 B集合所有点的距离
                     for (int i = 0; i < remainCou; i++)
                     {
-                        outAtoBLen[i] = GageLengthSquare(aVecs[aIndex[aMaxIndex]], bVecs[bIndex[i]]);
+                        outAtoBLen[i] = GageLengthSquare(new_aVecs[aIndex[aMaxIndex]], new_bVecs[bIndex[i]]);
                     }
                     int bMinIndex = GetIndexOfMaxOrMin(outAtoBLen, false);// 最短距离
                     match.Add(new int[] { aIndex[aMaxIndex], bIndex[bMinIndex] });// 映射到配对
@@ -1362,7 +1455,7 @@ namespace FlightRouteV2
                     double[] outBtoALen = new double[remainCou];//最外层B点到 A集合所有点的距离
                     for (int i = 0; i < remainCou; i++)
                     {
-                        outBtoALen[i] = GageLengthSquare(aVecs[aIndex[i]], bVecs[bIndex[bMaxIndex]]);
+                        outBtoALen[i] = GageLengthSquare(new_aVecs[aIndex[i]], new_bVecs[bIndex[bMaxIndex]]);
                     }
                     int aMinIndex = GetIndexOfMaxOrMin(outBtoALen, false);// 最短距离
                     match.Add(new int[] { aIndex[aMinIndex], bIndex[bMaxIndex] });// 映射到配对
@@ -1370,89 +1463,105 @@ namespace FlightRouteV2
                     bIndex.RemoveAt(bMaxIndex); // 删除已经配对的b集合 ID
                 }
             }
-            Vector3[] new_bVecs = CreateNewBVecs(bVecs, match);// 按照映射 获取a 对应的 新的b集合
+            Vector3[] re_bVecs = CreateNewBVecs(new_bVecs, match);// 按照映射 获取a 对应的 新的b集合
-            if (!isSwap)
-            {
-                return new_bVecs;
-            }
             ///交叉 交换
-            for (int i = 0; i < swapCount; i++)
+            if (isSwap)
             {
-                List<int[]> planesCollision = AirImitation(aVecs, new_bVecs);// 获取碰撞组
+                for (int i = 0; i < swapCount; i++)
-                List<List<int>> formatCollision = FindConnected(planesCollision);// 获取交叉序列 例如：[[0,2][0,3][3,4][5,6]] 结果[[0,2,3,4][5,6]]
-                List<List<int>> filteredCollision = formatCollision.Where(sublist => sublist.Count <= crossingLimit).ToList();// 过滤 只保留交叉数量小于等于crossingLimit的序列
-                if (filteredCollision.Count == 0) break;
-                ///日志输出
-                string log = "";
-                foreach (List<int> item in filteredCollision)
                 {
-                    log += "[";
+                    List<int[]> planesCollision = AirImitation(new_aVecs, re_bVecs);// 获取碰撞组
-                    foreach (int itemInt in item)
+                    List<List<int>> formatCollision = FindConnected(planesCollision);// 获取交叉序列 例如：[[0,2][0,3][3,4][5,6]] 结果[[0,2,3,4][5,6]]
+                    List<List<int>> filteredCollision = formatCollision.Where(sublist => sublist.Count <= crossingLimit).ToList();// 过滤 只保留交叉数量小于等于crossingLimit的序列
+                    if (filteredCollision.Count == 0) break;
+                    ///日志输出
+                    string log = "";
+                    foreach (List<int> item in filteredCollision)
                     {
-                        log += $"{itemInt},";
+                        log += "[";
+                        foreach (int itemInt in item)
+                        {
+                            log += $"{itemInt},";
+                        }
+                        log += "]";
                     }
-                    log += "]";
+                    StrPrint($"共迭代{swapCount}次交换，第{i}次。共{filteredCollision.Count}组，交换组为：{log}。");
-                }
+                    /// 遍历所有交叉组 分组做交换
-                StrPrint($"共迭代{swapCount}次交换，第{i}次。共{filteredCollision.Count}组，交换组为：{log}。");
+                    int cou = 0;
-                /// 遍历所有交叉组 分组做交换
+                    foreach (List<int> swap_indices in filteredCollision)
-                int cou = 0;
-                foreach (List<int> swap_indices in filteredCollision)
-                {
-                    cou++;
-                    StrPrint($"进度：{cou}/{filteredCollision.Count}。交换组：[{string.Join(", ", swap_indices)}]。");
-                    ///交叉 生成所有排列
-                    List<List<int>> all_permutations = Permutations(swap_indices);//所有排列组合
-                    List<int> original = all_permutations[0];//原始排列
-                    all_permutations.RemoveAt(0);//删掉第一个 既原始排列
-                    /// 按所有的排列 互换航线 并检测出最佳的对应目标点
-                    List<int> tempLen = new List<int>(); //记录最少碰撞的 排列
-                    List<Vector3[]> tempNew_bVecsS = new List<Vector3[]>();//记录最少碰撞的 排列交换之后的目标坐标集
-                    foreach (List<int> indices in all_permutations)
                     {
-                        Vector3[] current_array = new Vector3[planeCou];
+                        cou++;
-                        Array.Copy(new_bVecs, current_array, planeCou);//复制一个new_bVecs 副本
+                        StrPrint($"进度：{cou}/{filteredCollision.Count}。交换组：[{string.Join(", ", swap_indices)}]。");
-                        for (int k = 0; k < indices.Count; k++)
+                        ///交叉 生成所有排列
+                        List<List<int>> all_permutations = Permutations(swap_indices);//所有排列组合
+                        List<int> original = all_permutations[0];//原始排列
+                        all_permutations.RemoveAt(0);//删掉第一个 既原始排列
+                        /// 按所有的排列 互换航线 并检测出最佳的对应目标点
+                        List<int> tempLen = new List<int>(); //记录最少碰撞的 排列
+                        List<Vector3[]> tempNew_bVecsS = new List<Vector3[]>();//记录最少碰撞的 排列交换之后的目标坐标集
+                        foreach (List<int> indices in all_permutations)
                         {
-                            current_array[original[k]] = new_bVecs[indices[k]];
+                            Vector3[] current_array = new Vector3[planeCou];
-                        }
+                            Array.Copy(re_bVecs, current_array, planeCou);//复制一个re_bVecs 副本
-                        ///把最少碰撞的排列 录入到数组
+                            for (int k = 0; k < indices.Count; k++)
-                        int collisionsCou = (AirImitation(aVecs, current_array)).Count;//此排列的碰撞次数
+                            {
-                        if (tempLen.Count == 0 || tempLen[0] == collisionsCou)//如果第一次添加 或者 碰撞次数等于最少碰撞
+                                current_array[original[k]] = re_bVecs[indices[k]];
-                        {
+                            }
-                            ///录入数组
+                            ///把最少碰撞的排列 录入到数组
-                            tempLen.Add(collisionsCou);
+                            int collisionsCou = (AirImitation(new_aVecs, current_array)).Count;//此排列的碰撞次数
-                            tempNew_bVecsS.Add(current_array);
+                            if (tempLen.Count == 0 || tempLen[0] == collisionsCou)//如果第一次添加 或者 碰撞次数等于最少碰撞
-                        }
+                            {
-                        else if (tempLen[0] > collisionsCou)
+                                ///录入数组
-                        {
+                                tempLen.Add(collisionsCou);
-                            /// 如果最小值 大于 当前碰撞次数，清空之前记录
+                                tempNew_bVecsS.Add(current_array);
-                            tempLen.Clear();
+                            }
-                            tempNew_bVecsS.Clear();
+                            else if (tempLen[0] > collisionsCou)
-                            ///录入数组
+                            {
-                            tempLen.Add(collisionsCou);
+                                /// 如果最小值 大于 当前碰撞次数，清空之前记录
-                            tempNew_bVecsS.Add(current_array);
+                                tempLen.Clear();
+                                tempNew_bVecsS.Clear();
+                                ///录入数组
+                                tempLen.Add(collisionsCou);
+                                tempNew_bVecsS.Add(current_array);
+                            }
                         }
+                        re_bVecs = tempNew_bVecsS[GetRandomMinIndex(tempLen)];
                     }
-                    new_bVecs = tempNew_bVecsS[GetRandomMinIndex(tempLen)];
                 }
             }
-            
+            ///静态飞机 赋值回 返回航点组 ps:航点赋值的位置是对应的a组的ID位置 映射到b组的位置
+            if (isStaticSkip)
+            {
+                planeCou = aVecs.Length;
+                List<Vector3> re_bVecsCopy = new List<Vector3>(re_bVecs);
+                List<Vector3> re_bVecsList = new List<Vector3>();
+                for (int i = 0; i < planeCou; i++)
+                {
+                    if (staticAindex.IndexOf(i) != -1)
+                    {
+                        re_bVecsList.Add(aVecs[i]);
+                    }
+                    else 
+                    {
+                        re_bVecsList.Add(re_bVecsCopy[0]);
+                        re_bVecsCopy.RemoveAt(0);
+                    }
+                }
+                re_bVecs = re_bVecsList.ToArray();
+            }
             t = DateTimeOffset.UtcNow.ToUnixTimeSeconds() - t;
             StrPrint($"用时：{t}秒");
             StrPrint($"-------智能选择路径计算，结束-------");
-            return new_bVecs;
+            return re_bVecs;
         }
         /// <summary>
         /// 智能错层
         /// </summary>
         /// <param name="aVecs">起始坐标集合</param>
         /// <param name="bVecs">终点做标集合</param>
-        /// <param name="aName">起始坐标航点名称</param>
-        /// <param name="bName">终点坐标航点名称</param>
         /// <param name="StrPrint">日志输出 回调函数</param>
         /// <param name="layHight">错层层高</param>
         /// <returns>返回一个二维向量坐标集合 middle[0]是第一个中间航点 middle[1]是第二个中间航点 返回空数组则代表两个图形不在一个平面上或者不够4个点</returns>
-        public static List<List<Vector3>> CollisionLayer(Vector3[] aVecs, Vector3[] bVecs,string aName,string bName ,SomeCalculateWay StrPrint, double layHight = 185)
+        public static List<List<Vector3>> CollisionLayer(Vector3[] aVecs, Vector3[] bVecs,SomeCalculateWay StrPrint, double layHight = 300)
         {
             long t = DateTimeOffset.UtcNow.ToUnixTimeSeconds();
             StrPrint("-------错层，开始-------");
@@ -1467,102 +1576,73 @@ namespace FlightRouteV2
             }
             //获取飞机总数
             int planeCou = aVecs.Length;
-            if (planeCou < 2)//至少不少于2架飞机 才开始错层
+            
+            Vector3[] new_aVecs = aVecs.ToArray();  //a图副本
+            Vector3[] new_bVecs = bVecs.ToArray(); //b图副本
+
+            ///把所有点压在 主面“共面”上
+            List<int> maxVecsOfCoplane = FindMaxPlaneIndices(aVecs);// 找出A图共面最多点的索引
+            StrPrint("正在进行“共面”检测，需要一些时间请耐心等待。。。");
+            if (maxVecsOfCoplane.Count < 4) //a图至少要有4个点 共面
             {
-                StrPrint("图案至少要两个点阵！");
+                StrPrint("a图案至少有4个点以上共面，否则不可执行错层处理");
+                StrPrint($"-------错层结束-------");
                 return re;
             }
+            ///共面上取三个点
+            Vector3 vec0 = new_aVecs[maxVecsOfCoplane[0]];
+            Vector3 vec1 = new_aVecs[maxVecsOfCoplane[1]];
+            Vector3 vec2 = new_aVecs[maxVecsOfCoplane[2]];
+            ///遍历 把a图和b图点压到 “共面”上
+            for (int i = 0; i < planeCou; i++) 
+            {
+                if (!(maxVecsOfCoplane.Contains(i))) //除去在共面内的面
+                {
+                    new_aVecs[i] = CalculateIntersectionPoint(vec0, vec1, vec2, new_aVecs[i]); //压平到共面上
+                }
+                new_bVecs[i] = CalculateIntersectionPoint(vec0, vec1, vec2, new_bVecs[i]); //压平到共面上
+            }
             
-            ///从ab图案中取最外层3个点 确定一个面 ps:方便后续叉积算法线标量
+            ///计算法线向量
-            Vector3 vec0 = new Vector3(0, 0, 0); //记录最外圈一个坐标
-            Vector3 vec1 = new Vector3(0, 0, 0); //记录离最外圈坐标最远的一个点坐标
-            Vector3 vec2 = new Vector3(0, 0, 0); //最外圈距离 和最远距离 之和最远的一个点
-            // 求重心
-            List<Vector3> allVecs = new List<Vector3>();
-            for (int i = 0; i < planeCou; i++)
-            {
-                allVecs.Add(aVecs[i]);
-                allVecs.Add(bVecs[i]);
-            }
-            Vector3 centerVec = GetPosCenter(allVecs);//重心点
-            // 遍历所有ab点
-            double tempLong = 0;
-            double currentLong;
-            for (int i = 0; i < planeCou * 2; i++) //取最外圈一个坐标
-            {
-                currentLong = GageLength(allVecs[i], centerVec);
-                if (tempLong < currentLong)
-                {
-                    vec0 = allVecs[i];
-                    tempLong = currentLong;
-                }
-            }
-            tempLong = 0;
-            for (int i = 0; i < planeCou * 2; i++) //取最外圈点
-            {
-                currentLong = GageLength(allVecs[i], vec0);
-                if (tempLong < currentLong)
-                {
-                    vec1 = allVecs[i];
-                    tempLong = currentLong;
-                }
-            }
-            tempLong = 0;
-            for (int i = 0; i < planeCou * 2; i++) //取最外圈点
-            {
-                currentLong =(GageLength(allVecs[i], vec0) + GageLength(allVecs[i], vec1));
-                if (tempLong < currentLong)
-                {
-                    vec2 = allVecs[i];
-                    tempLong = currentLong;
-                }
-            }
-            ///遍历两个图形所有点 是否在一个平面上
-            string aNoPlaneSN= "";//记录a图案所有不在一个平面上的点
-            string bNoPlaneSN = "";//记录b图案所有不在一个平面上的点
-            for (int i = 0; i < planeCou; i++)
-            {
-                if (!IsVecsOnPlane(vec0, vec1, vec2, aVecs[i])) aNoPlaneSN += $"{i+1},";
-                if (!IsVecsOnPlane(vec0, vec1, vec2, bVecs[i])) bNoPlaneSN += $"{i+1},";
-            }
-            if (aNoPlaneSN != "" || bNoPlaneSN != "") 
-            {
-                if (aNoPlaneSN != "") StrPrint($"“{aName}”:{aNoPlaneSN}号飞机 ,不在一个平面，故不能做搓层处理!");
-                if (bNoPlaneSN != "") StrPrint($"“{bName}”:{bNoPlaneSN}号飞机 ,不在一个平面，故不能做搓层处理!");
-                StrPrint($"-------错层,结束-------");
-                return re;//两个图形不在一个平面上 返回 空数组
-            }
-            ///检查完毕后 
-            //计算法线向量
             Vector3 side1 = vec1 - vec0;
             Vector3 side2 = vec2 - vec0;
             Vector3 normal = CrossPro(side1, side2);
             Vector3 normalScalar = normal.NormalizEd();//法线标量
-            //开始错层
+            ///开始错层
             for (int i = 0; i < planeCou; i++)
             {
                 int shiftCou = 1; //记录循环次数 即层数
-                Vector3 aOrigin = aVecs[i]; //原点位置
+                Vector3 aOrigin = new_aVecs[i]; //原点位置
-                Vector3 bOrigin = bVecs[i]; //原点位置
+                Vector3 bOrigin = new_bVecs[i]; //原点位置
-                while (OnlyImitation(i, aVecs, bVecs))
+                while (OnlyImitation(i, new_aVecs, new_bVecs))
                 {
                     Vector3 shiftVec = normalScalar * ((shiftCou + 1) / 2 * layHight);
                     if (shiftCou % 2 == 1)
                     {
-                        aVecs[i] = aOrigin + shiftVec;
+                        new_aVecs[i] = aOrigin + shiftVec;
-                        bVecs[i] = bOrigin + shiftVec;
+                        new_bVecs[i] = bOrigin + shiftVec;
                     }
                     else
                     {
-                        aVecs[i] = aOrigin - shiftVec;
+                        new_aVecs[i] = aOrigin - shiftVec;
-                        bVecs[i] = bOrigin - shiftVec;
+                        new_bVecs[i] = bOrigin - shiftVec;
                     }
                     shiftCou += 1;
                 }
             }
-            re.Add(aVecs.ToList());
+            ///计算碰撞
-            re.Add(bVecs.ToList());
+            planesCollision = AirImitation(aVecs, new_aVecs).Concat(AirImitation(new_aVecs, new_bVecs)).ToList(); //获取碰撞组
-            StrPrint($"错层成功");
+            planesCollision = planesCollision.Concat(AirImitation(new_bVecs, bVecs)).ToList();
+            if (planesCollision.Count == 0)
+            {
+                re.Add(new_aVecs.ToList());
+                re.Add(new_bVecs.ToList());
+                StrPrint($"错层成功");
+            }
+            else
+            {
+                StrPrint($"检测有碰撞，错层失败");
+            }
             t = DateTimeOffset.UtcNow.ToUnixTimeSeconds() - t;
             StrPrint($"用时：{t}秒");
             StrPrint($"-------错层结束-------");
@@ -1574,10 +1654,12 @@ namespace FlightRouteV2
         /// <param name="aVecs">起始坐标集合</param>
         /// <param name="bVecs">终点做标集合</param>
         /// <param name="StrPrint">日志输出 回调函数</param>
-        /// <param name="GetVal">日志输出 回调函数</param>
+        /// <param name="GetVal">进度日志输出 回调函数</param>
+        /// <param name="cancellationToken">函数“取消执行”ps:new一个CancellationTokenSource类型 把实例.Token属性传进来，函数外部用实例.Cancel()函数控制实参值(bool)</param>
         /// <param name="isPass">out参数 返回true不碰撞程序直接返回 false有碰撞程序向下执行</param>
+        /// <param name="mappingId">飞机真实序号的映射关系</param>
         /// <returns>返回一个二维数组 返回值长度0没有检测到碰撞或绕行失败 长度1为一个中间航点 长度为3为三个中间航点顺序(前中后)</returns>
-        public static List<List<Vector3>> ABypassB(Vector3[] aVecs, Vector3[] bVecs,SomeCalculateWay StrPrint, Schedule GetVal, CancellationToken cancellationToken, out bool isPass, List<int> mappingId = null)
+        public static List<List<Vector3>> ABypassB(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint, Schedule GetVal, CancellationToken cancellationToken, out bool isPass, List<int> mappingId = null)
         {
             isPass = false;
             long t = DateTimeOffset.UtcNow.ToUnixTimeSeconds();
@@ -1618,14 +1700,14 @@ namespace FlightRouteV2
                 if (cancellationToken.IsCancellationRequested)//外部法取消指令
                 {
                     StrPrint("-------3D绕行操作被取消-------");
-                    return re; // 退出函数
+                    return null; // 退出函数
                 }
                 int progress = 0;//进度
                 foreach (int i in collisionGroup)//开始绕碰撞组
                 {
                     progress++;
-                    GetVal(progress/collisionGroup.Count*100);
+                    GetVal(progress / collisionGroup.Count * 100);
-                    List<Vector3> grv = GetRingVec(aVecs[i], bVecs[i], 0.5, 5, 4, 1500);//中间可绕行航点列表
+                    List<Vector3> grv = GetRingVec(aVecs[i], bVecs[i], 0.5, 5, 4, 1500, 300);//中间可绕行航点列表
                     StrPrint($"进度：{progress}/{collisionGroup.Count}，本次绕行{grv.Count}次");
                     foreach (Vector3 v in grv)
                     {
@@ -1680,7 +1762,7 @@ namespace FlightRouteV2
                 if (cancellationToken.IsCancellationRequested)//外部法取消指令
                 {
                     StrPrint("-------3D绕行操作被取消-------");
-                    return re; // 退出函数
+                    return null; // 退出函数
                 }
                 int progress = 0;//进度
                 foreach (int i in collisionGroup)//开始绕碰撞组
@@ -1688,9 +1770,9 @@ namespace FlightRouteV2
                     progress++;
                     GetVal(progress / collisionGroup.Count * 100);
                     //StrPrint($"迭代{c}次{i}号绕行");
-                    List<Vector3> sgrv1 = GetRingVec(aVecs[i], bVecs[i], 0, 30, 10,600);//中间可绕行航点列表
+                    List<Vector3> sgrv1 = GetRingVec(aVecs[i], bVecs[i], 0, 30, 10, 600, 300);//中间可绕行航点列表
                     sgrv1.Insert(0, secondMiddleVecsOne[i]);
-                    List<Vector3> sgrv2 = GetRingVec(aVecs[i], bVecs[i], 1, 30, 10,600);//中间可绕行航点列表
+                    List<Vector3> sgrv2 = GetRingVec(aVecs[i], bVecs[i], 1, 30, 10, 600, 300);//中间可绕行航点列表
                     sgrv2.Insert(0, secondMiddleVecsTwo[i]);
                     StrPrint($"进度：{progress}/{collisionGroup.Count}，本次绕行{sgrv1.Count * sgrv2.Count}次");
                     foreach (Vector3 v1 in sgrv1)
@@ -1753,7 +1835,7 @@ namespace FlightRouteV2
                 if (cancellationToken.IsCancellationRequested)//外部法取消指令
                 {
                     StrPrint("-------3D绕行操作被取消-------");
-                    return re; // 退出函数
+                    return null; // 退出函数
                 }
                 int progress = 0;//进度
                 foreach (int i in collisionGroup)//开始绕碰撞组
@@ -1761,11 +1843,11 @@ namespace FlightRouteV2
                     GetVal(progress / collisionGroup.Count * 100);
                     progress++;
                     //StrPrint($"迭代{c}次{i}号绕行");
-                    List<Vector3> sgrv1 = GetRingVec(aVecs[i], bVecs[i], 0, 100, 10, 600);//中间可绕行航点列表
+                    List<Vector3> sgrv1 = GetRingVec(aVecs[i], bVecs[i], 0, 100, 10, 600, 300);//中间可绕行航点列表
                     sgrv1.Insert(0, secondMiddleVecsOne[i]);
-                    List<Vector3> sgrv2 = GetRingVec(aVecs[i], bVecs[i], 1, 100, 10, 600);//中间可绕行航点列表
+                    List<Vector3> sgrv2 = GetRingVec(aVecs[i], bVecs[i], 1, 100, 10, 600, 300);//中间可绕行航点列表
                     sgrv2.Insert(0, secondMiddleVecsTwo[i]);
-                    List<Vector3> grv = GetRingVec(secondMiddleVecsOne[i], secondMiddleVecsTwo[i], 0.5, 80, 4, 1500);//中间可绕行航点列表
+                    List<Vector3> grv = GetRingVec(secondMiddleVecsOne[i], secondMiddleVecsTwo[i], 0.5, 80, 4, 1500, 300);//中间可绕行航点列表
                     StrPrint($"进度：{progress}/{collisionGroup.Count}，本次绕行{sgrv1.Count * sgrv2.Count * grv.Count}次");
                     foreach (Vector3 vm in grv)
                     {
@@ -1776,7 +1858,7 @@ namespace FlightRouteV2
                             foreach (Vector3 v2 in sgrv2)
                             {
                                 secondMiddleVecsTwo[i] = v2;
-                                if (!OnlyImitation(i, aVecs, secondMiddleVecsOne) && !OnlyImitation(i, secondMiddleVecsOne, thirdMiddleVecs ) && !OnlyImitation(i, thirdMiddleVecs, secondMiddleVecsTwo) && !OnlyImitation(i, secondMiddleVecsTwo, bVecs))
+                                if (!OnlyImitation(i, aVecs, secondMiddleVecsOne) && !OnlyImitation(i, secondMiddleVecsOne, thirdMiddleVecs) && !OnlyImitation(i, thirdMiddleVecs, secondMiddleVecsTwo) && !OnlyImitation(i, secondMiddleVecsTwo, bVecs))
                                 {
                                     isPassMark = true;
                                     break;
@@ -1867,7 +1949,7 @@ namespace FlightRouteV2
         /// <param name="layHight">偏移层高</param>
         /// <param name="direction">层排布方向 "retrun"前后堆叠 "forward"向前排列（如：起点向目标点方向） "backward"向后排列</param>
         /// <returns>矩阵</returns>
-        private static Matrix GetBasisMatrix(Vector3 aVec, Vector3 bVec, double middleProportion, int offCount, double layHight,string direction)
+        private static Matrix GetBasisMatrix(Vector3 aVec, Vector3 bVec, double middleProportion, int offCount, double layHight, string direction)
         {
             /// 计算前向向量 k帽
             Vector3 k_hat = (bVec - aVec).NormalizEd();
@@ -1892,7 +1974,7 @@ namespace FlightRouteV2
             {
                 offShift = middleProportion + offCount * layHight / length;
             }
-            else if(direction == "backward")
+            else if (direction == "backward")
             {
                 offShift = middleProportion - offCount * layHight / length;
             }
@@ -1929,17 +2011,20 @@ namespace FlightRouteV2
         /// <param name="maxPaunchRadius">设定圆盘半径 的最大值 单位是厘米</param>
         /// <param name="direction">层排布方向 "retrun"前后堆叠 "forward"向前排列（如：起点向目标点方向） "backward"向后排列</param>
         /// <returns>绕行航点列表</returns>
-        public static List<Vector3> GetRingVec(Vector3 aVec, Vector3 bVec, double middleProportion,  double transfer, double paunch,double maxPaunchRadius, string direction = "retrun")
+        public static List<Vector3> GetRingVec(Vector3 aVec, Vector3 bVec, double middleProportion, double transfer, double paunch, double maxPaunchRadius, double minPaunchRadius, string direction = "retrun")
         {
             List<Vector3> ringVec = new List<Vector3>(); //记录所有绕行中间航点坐标
             /// 根据a到b的长度 算出中间绕行几圈
             double discRadius = GageLength(aVec, bVec) / paunch;//圆盘半径
             if (discRadius > maxPaunchRadius)
             {
-                discRadius = maxPaunchRadius;//设定圆盘不经不超过最大值
+                discRadius = maxPaunchRadius;//设定圆盘直径上限
             }
-            int ringCou = (int)Math.Ceiling(discRadius / transfer ); //算层数和圈数 ps:层的厚度 和 圈的直径 为 paunch/航线长度
+            if (discRadius < minPaunchRadius)
-            if (ringCou < 2) ringCou = 2;  //最少两圈 两层
+            {
+                discRadius = minPaunchRadius;//设定圆盘直径下限
+            }
+            int ringCou = (int)Math.Ceiling(discRadius / transfer); //算层数和圈数 ps:层的厚度 和 圈的直径 为 paunch/航线长度
             /// 不是单圈的话 设置层数跟圈数相等
             int layCou = ringCou;
             if (singleCircle) layCou = 1;
@@ -1971,30 +2056,48 @@ namespace FlightRouteV2
         /// <param name="aVecs">平面图案坐标组</param>
         /// <param name="bVecs">回归矩阵坐标组</param>
         /// <param name="strPrint">日志输出 回调函数</param>
+        /// <param name="pullingDistance">拉散层距</param>
         /// <returns>拉散图案的坐标组</returns>
-        public static Vector3[] NormalPull(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint)
+        public static Vector3[] NormalPull(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint,double pullingDistance = 300)
         {
-            Vector3[] new_aVecs = aVecs.ToArray();
+            Vector3[] new_aVecs = aVecs.ToArray();  //a图副本
-            Vector3[] new_bVecs = bVecs.ToArray();
+            Vector3[] new_bVecs = bVecs.ToArray(); //矩阵副本
             int planeCou = new_aVecs.Length; //获取飞机总数
+            ///判断a图是不是平面
+            if (!(planeCou == FindMaxPlaneIndices(aVecs).Count))
+            {
+                StrPrint("-------前图航点非平面图形,故不能做拉散图案操作-------");
+                return null;
+            }
             ///a图b图 中心
             Vector3 aCenterPos = GetPosCenter(new_aVecs, false);
-            Vector3 bCenterPos = GetPosCenter(new_bVecs, false);
             ///判断bVec 矩阵的数量长宽
             for (int i = 0; i < planeCou; i++)//把矩阵高度压平
             {
                 new_bVecs[i] = new Vector3(new_bVecs[i].X, 0, new_bVecs[i].Z);
             }
-            int row = 1 ;
+            int row = 1;
-            for (int i = 0; i < planeCou-2; i++)
+            for (int i = 0; i < planeCou - 2; i++)
             {
                 if (!(IsVecsOnLine(new_bVecs[i], new_bVecs[i + 1], new_bVecs[i + 2])))
                 {
-                    row = i+2;//列
+                    row = i + 2;//列
                     break;
                 }
             }
-            int ran = (int)Math.Ceiling((double)planeCou/(double)row);//行
+            int ran = (int)Math.Ceiling((double)planeCou / (double)row);//行
+            StrPrint($"{ran}行{row}列");
+            if (ran > 2)
+            {
+                for (int i = 0; i < ran - 2; i++)
+                {
+                    if (!(IsVecsOnLine(new_bVecs[i * row], new_bVecs[(i + 1) * row], new_bVecs[(i + 2) * row])))
+                    {
+                        StrPrint("-------降落航点非常规矩阵,故不能做拉散图案操作-------");
+                        return null;
+                    }
+                }
+            }
             ///计算a图的法线标量
             Vector3 side1 = new_aVecs[1] - new_aVecs[0];
             Vector3 side2 = new_aVecs[2] - new_aVecs[0];
@@ -2014,20 +2117,20 @@ namespace FlightRouteV2
                     for (int i = 0; i < ran; i++)
                     {
                         int cou = i * row + k;
-                        if (cou > planeCou) break;// 溢出跳出
+                        if (cou >= planeCou) break;// 溢出跳出
                         ///判断图在矩阵的左方 还是右方 
                         if (GageLength(aCenterPos, new_bVecs[0]) > GageLength(aCenterPos, new_bVecs[row - 1]))
                         {
-                            new_aVecs[cou] -= normalScalar * (row - k) * 300;//左方
+                            new_aVecs[cou] -= normalScalar * (row - k) * pullingDistance;//左方
                         }
                         else
                         {
-                            new_aVecs[cou] += normalScalar * k * 300;//右方
+                            new_aVecs[cou] += normalScalar * k * pullingDistance;//右方
                         }
                     }
                 }
                 ///判断a图的中心点 是否在矩阵内部 在矩阵内部 做一个a b两组中心点对其 ps:相当于朝两边拉散
-                if (IsPointBetweenLines(new_bVecs[(int)Math.Ceiling(((double)row/5))-1], new_bVecs[(int)Math.Ceiling(((double)row / 5)) - 1+row], new_bVecs[row-((int)Math.Ceiling(((double)row / 5)) - 1)], new_bVecs[(row - ((int)Math.Ceiling(((double)row / 5)) - 1))+row], aCenterPos))
+                if (IsPointBetweenLines(new_bVecs[(int)Math.Ceiling(((double)row / 5)) - 1], new_bVecs[(int)Math.Ceiling(((double)row / 5)) - 1 + row], new_bVecs[row - ((int)Math.Ceiling(((double)row / 5)) - 1)], new_bVecs[(row - ((int)Math.Ceiling(((double)row / 5)) - 1)) + row], aCenterPos))
                 {
                     if (GageLength(new_aVecs[0], aVecs[0]) > GageLength(new_aVecs[planeCou - 1], aVecs[planeCou - 1]))//判断最大偏移量 是第一排 还是最后一排
                     {
@@ -2056,15 +2159,16 @@ namespace FlightRouteV2
                     for (int i = 0; i < row; i++)
                     {
                         int cou = k * row + i;
-                        if (cou > planeCou) break;// 溢出跳出
+                        //StrPrint($"{cou}");
+                        if (cou >= planeCou) break;// 溢出跳出
                         ///判断图在矩阵的上方 还是下方
                         if (GageLength(aCenterPos, new_bVecs[0]) > GageLength(aCenterPos, new_bVecs[row * (ran - 1)]))
                         {
-                            new_aVecs[cou] -= normalScalar * (ran - k) * 300;//上方
+                            new_aVecs[cou] -= normalScalar * (ran - k) * pullingDistance;//上方
                         }
                         else
                         {
-                            new_aVecs[cou] += normalScalar * k * 300;//下方
+                            new_aVecs[cou] += normalScalar * k * pullingDistance;//下方
                         }
                     }
                 }

FlyCube/MainWindow.xaml

@@ -16,15 +16,18 @@
                 <Label Content="顶视图" FontSize="14" Background="#556b6b6b" Foreground="#FFDCDCDC" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="0" />
             </Canvas>
         </Grid>
-        
+
         <Grid Name="MainMenu" Width="220" Height="800" Margin="10,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Top">
-            <Button Content="导入航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,0,0,0" Click="ImportFcgm_Click"/>
+            <Button Content="导入航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,0,0,0" Click="ImportFcgm_Click" Cursor="Hand"/>
-            <Button Content="导入映射图" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,54,0,0" Click="ImportImg_Click"/>
+            <Button Content="导入映射图" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,54,0,0" Click="ImportImg_Click" Cursor="Hand"/>
-            <Button Content="保存航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,108,0,0" Click="ExportFcgm_Click"/>
+            <Button Content="保存航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,108,0,0" Click="ExportFcgm_Click" Cursor="Hand"/>
-            <Button Content="渲染" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,162,0,0" Click="Render_Click"/>
+            <Button Content="渲染" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,162,0,0" Click="Render_Click" Cursor="Hand"/>
-            <Button Content="3D绕行" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,270,0,0" Click="ByPass_Click"/>
+            <Button Content="智能对应错层" HorizontalAlignment="Left" VerticalAlignment="Top" Width="145" Height="49" Margin="0,216,0,0" Click="CollisionLayer_Click" Cursor="Hand"/>
-            <Button Content="绕行取消" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,324,0,0" Click="ByPassCancel_Click"/>
+            <Button Content="ID对应错层" HorizontalAlignment="Right" VerticalAlignment="Top" Width="70" Height="49" Margin="0,216,0,0" Click="CollisionLayer_Click" Cursor="Hand"/>
-            <TextBox Name="vLogBox" HorizontalAlignment="Center" VerticalAlignment="Top" Width="220" Height="284" Margin="0,378,0,0"/>
+            <Button Content="智能对应绕行" HorizontalAlignment="Left" VerticalAlignment="Top" Width="145" Height="49" Margin="0,270,0,0" Click="ByPass_Click" Cursor="Hand"/>
+            <Button Content="ID对应绕行" HorizontalAlignment="Right" VerticalAlignment="Top" Width="70" Height="49" Margin="0,270,0,0" Click="ByPass_Click" Cursor="Hand"/>
+            <Button Content="绕行取消" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,324,0,0" Click="ByPassCancel_Click" Cursor="Hand"/>
+            <TextBox Name="vLogBox" HorizontalAlignment="Center" VerticalAlignment="Top" Width="220" Height="424" Margin="0,378,0,0" Cursor="AppStarting"/>
         </Grid>
     </WrapPanel>
 </Window>

FlyCube/MainWindow.xaml.cs

@@ -40,19 +40,103 @@ namespace FlyCube
             //创建一个 主画布对象
             TopCanvas = new MainCanvas(this.LayerPlane);
 
-            Vector3 aVec = new Vector3(-6650, 1585.775, 3150);
+            //List<Vector3[]> abVecs = FileBase.TxtToPos("C:/Users/szdot/Desktop/1.txt", out string[] fightNames);//从txt文件里面读取航点 信息
-            Vector3 bVec = new Vector3(-3864.256, 126.145,0);
+            //Vector3[] aVecs = abVecs[0].ToArray();
-            List<Vector3> vecs  = FlyVecFun.GetRingVec(aVec,bVec,0.3,100,1,1200);
+            //Vector3[] bVecs = abVecs[1].ToArray();
-            string txta = "";
+            //Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
-            for (int i = 0; i < vecs.Count; i++)
+            //List<List<Vector3>> listVecs = FlyVecFun.CollisionLayer(aVecs, new_bVecs, StrPrintAsync);
+
+            //string txta = "";
+            //string txtb = "";
+            //string txtd = "";
+            //for (int i = 0; i < bVecs.Length; i++)
+            //{
+            //    txta += i + " 0" + " " + listVecs[0][i].X + " " + listVecs[0][i].Y + " " + listVecs[0][i].Z + "\r\n";
+            //    txtb += i + " 0" + " " + listVecs[1][i].X + " " + listVecs[1][i].Y + " " + listVecs[1][i].Z + "\r\n";
+            //    txtd += i + " 0" + " " + new_bVecs[i].X + " " + new_bVecs[i].Y + " " + new_bVecs[i].Z + "\r\n";
+            //}
+            //string patha = "C:/Users/szdot/Desktop/a.txt";
+            //string pathb = "C:/Users/szdot/Desktop/b.txt";
+            //string pathd = "C:/Users/szdot/Desktop/d.txt";
+            //if (File.Exists(patha))
+            //{
+            //    File.Delete(patha);
+            //}
+            //SaveFile(patha, txta);
+            //if (File.Exists(pathb))
+            //{
+            //    File.Delete(pathb);
+            //}
+            //SaveFile(pathb, txtb);
+            //if (File.Exists(pathd))
+            //{
+            //    File.Delete(pathd);
+            //}
+            //SaveFile(pathd, txtd);
+
+        }
+        private async void CollisionLayer_Click(object sender, RoutedEventArgs e)
+        {
+            //资源管理器 获取航点文件路径
+            FileBase.FileClass = new string[] { "航点文件" };
+            FileBase.Pascal = new string[] { "*.txt" };
+            string FliePath = FileBase.OpenExplorer("航点文件导入", out bool isSelect);
+            if (isSelect)
             {
-                txta += i + " 0" + " " + vecs[i].X + " " + vecs[i].Y + " " + vecs[i].Z + "\r\n";
+                List<Vector3[]> abVecs = FileBase.TxtToPos(FliePath, out string[] fightNames);//从txt文件里面读取航点 信息
+                Vector3[] aVecs = abVecs[0].ToArray();
+                Vector3[] bVecs = abVecs[1].ToArray();
+                Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
+                Task<List<List<Vector3>>> reTask = Task.Run(() => FlyVecFun.CollisionLayer(aVecs, new_bVecs, StrPrintAsync));
+                List<List<Vector3>> re = await reTask;
+
+                string txta = "";
+                string txtb = "";
+                string txtd = "";
+
+                for (int i = 0; i < abVecs[0].Length; i++)
+                {
+                    if (re.Count > 0)
+                    {
+                        txta += i + " 0" + " " + re[0][i].X + " " + re[0][i].Y + " " + re[0][i].Z + "\r\n";
+                    }
+                    if (re.Count > 1)
+                    {
+                        txtb += i + " 0" + " " + re[1][i].X + " " + re[1][i].Y + " " + re[1][i].Z + "\r\n";
+                    }
+                    txtd += i + " 0" + " " + new_bVecs[i].X + " " + new_bVecs[i].Y + " " + new_bVecs[i].Z + "\r\n";
+
+                }
+                if (re.Count > 0)
+                {
+                    string path = "C:/Users/szdot/Desktop/a.txt";
+                    if (File.Exists(path))
+                    {
+                        File.Delete(path);
+                    }
+                    SaveFile(path, txta);
+                }
+                if (re.Count > 1)
+                {
+                    string path = "C:/Users/szdot/Desktop/b.txt";
+                    if (File.Exists(path))
+                    {
+                        File.Delete(path);
+                    }
+                    SaveFile(path, txtb);
+                }
+
+                string pathd = "C:/Users/szdot/Desktop/d.txt";
+                if (File.Exists(pathd))
+                {
+                    File.Delete(pathd);
+                }
+                SaveFile(pathd, txtd);
             }
-            if (File.Exists("C:/Users/szdot/Desktop/a.txt"))
+            else
             {
-                File.Delete("C:/Users/szdot/Desktop/a.txt");
+                return;
             }
-            SaveFile("C:/Users/szdot/Desktop/a.txt", txta);
         }
         /// <summary>
         /// 3D绕行
@@ -69,8 +153,7 @@ namespace FlyCube
                 Vector3[] aVecs = abVecs[0].ToArray();
                 Vector3[] bVecs = abVecs[1].ToArray();
                 Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
-                //Vector3[] new_aVecs = FlyVecFun.NormalPull(aVecs, bVecs, StrPrintAsync);
+                //Vector3[] new_aVecs = FlyVecFun.NormalPull(aVecs, bVecs, StrPrintAsync);//拉散图案
-
                 bool isPass;
                 Task<List<List<Vector3>>> reTask = Task.Run(() => FlyVecFun.ABypassB(aVecs, bVecs, StrPrintAsync, GetVal, cts.Token, out isPass));
                 List<List<Vector3>> re = await reTask;
@@ -99,7 +182,7 @@ namespace FlyCube
                 }
                 if (re.Count > 0)
                 {
-                    string path = "C:/Users/szdot/Desktop/a.txt";
+                    string path = $"C:/Users/szdot/Desktop/a.txt";
                     if (File.Exists(path)) 
                     {
                         File.Delete(path);
@@ -141,11 +224,7 @@ namespace FlyCube
         private void ByPassCancel_Click(object sender, RoutedEventArgs e)
         {
             cts.Cancel(); //取消掉 异步执行的 绕行函数
-        }
+            cts = new CancellationTokenSource();
-        //异步回调函数 控制 取消绕行函数执行
-        private bool IsBreak(bool val)
-        {
-            return val;
         }
         // 异步回调函数 输出日志
         private async void StrPrintAsync(string str)
@@ -331,7 +410,7 @@ namespace FlyCube
             MessageBox.Show("成功");
         }
 
-        
+       
     }
     /// <summary>
     /// 灯光 组

FlyCube/Properties/Settings.Designer.cs

@@ -12,7 +12,7 @@ namespace FlyCube.Properties {
     
     
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.7.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.9.0.0")]
     internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
         
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));