/// <summary>
/// (八向)洪水填充算法
/// </summary>
private void FloodFill(NavGraphNode startPoint)
{
Queue <NavGraphNode> queue = new Queue <NavGraphNode>();
queue.Enqueue(startPoint);
FillState state;
int id = 0;
while (queue.Count != 0)
{
var node = queue.Dequeue();
#region 进行八个方向的填充
//上方
if ((state = isFill(node.Pos, Vector2.up, distanceBetweenNode, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + up * distanceBetweenNode, 0, lowCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, lowCost);
//NavGraph.AddEdge(id, node.ID, lowCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//下方
if ((state = isFill(node.Pos, Vector2.down, distanceBetweenNode, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + down * distanceBetweenNode, 0, lowCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, lowCost);
//NavGraph.AddEdge(id, node.ID, lowCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//左边
if ((state = isFill(node.Pos, Vector2.left, distanceBetweenNode, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + left * distanceBetweenNode, 0, lowCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, lowCost);
//NavGraph.AddEdge(id, node.ID, lowCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//右边
if ((state = isFill(node.Pos, Vector2.right, distanceBetweenNode, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + right * distanceBetweenNode, 0, lowCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, lowCost);
//NavGraph.AddEdge(id, node.ID, lowCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//左上角
if ((state = isFill(node.Pos, Vector2.up + Vector2.left, distanceBetweenDiagonal, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + leftUp * distanceBetweenDiagonal, 0, heightCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, heightCost);
//NavGraph.AddEdge(id, node.ID, heightCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//右上角
if ((state = isFill(node.Pos, Vector2.up + Vector2.right, distanceBetweenDiagonal, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + rightUp * distanceBetweenDiagonal, 0, heightCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, heightCost);
//NavGraph.AddEdge(id, node.ID, heightCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//左下角
if ((state = isFill(node.Pos, Vector2.down + Vector2.left, distanceBetweenDiagonal, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + leftDown * distanceBetweenDiagonal, 0, heightCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, heightCost);
//NavGraph.AddEdge(id, node.ID, heightCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
//右下角
if ((state = isFill(node.Pos, Vector2.down + Vector2.right, distanceBetweenDiagonal, ref id)) == FillState.Success)
{
var n = AddPointAndNode(node, node.Pos + rightDown * distanceBetweenDiagonal, 0, heightCost);
queue.Enqueue(n);
}
else if (state == FillState.FailByOtherPoint)
{
if (id >= 0 && !navGraph.HasEdge(node.ID, id))
{
NavGraph.AddEdge(node.ID, id, heightCost);
//NavGraph.AddEdge(id, node.ID, heightCost);
DebugController.instance.AddLine(node.Pos, navGraph.GetNode(id).Pos);
}
}
#endregion
}
}