bk_bishe_pi/bot_code/maze_func_flood.cpp

#include<iostream>
#include<string>
#include<vector>
#include"eyebot++.h"
#include"maze_parameter.h"
#include"maze_func.h"
using namespace std;

void flood(int *map, int *copy_wall)
{
  int num = 0;
  int size_x = mark.size();
  int size_y = mark[0].size();
  map[0] = 0;

  do
  {
    for (int i = 0; i < size_x; i++)
    { 
      for (int j = 0; j < size_y; j++)
      {
        if (map[(i * size_y) + j] != -1)
        { 
          if (i > 0)
          {
            if (!copy_wall[(i * (size_y + 1) * 2) + (j * 2) + 1]  &&  map[((i-1) * size_y) + j] == -1) //左边格子
            {
              map[((i-1) * size_y) + j] = map[(i * size_y) + j] + 1;
              num++;
            }
          }

          if (i < size_x - 1)
          {
            if (!copy_wall[((i+1) * (size_y + 1) * 2) + (j * 2) + 1]  &&  map[((i+1) * size_y) + j] == -1) //右边格子
            {
              map[((i+1) * size_y) + j] = map[(i * size_y) + j] + 1;
              num++;
            }
          }
          
          if (j > 0)
          {
            if (!copy_wall[(i * (size_y + 1) * 2) + (j * 2) + 0]  &&  map[(i *size_y) + (j-1)] == -1)
            {
              map[(i * size_y) + (j-1)] = map[(i * size_y) + j] + 1;
              num++;
            }
          }

          if (j < size_y - 1)
          {
            if (!copy_wall[(i * (size_y + 1) * 2) + ((j+1) * 2) + 0]  &&  map[(i * size_y) + (j+1)] == -1)
            {
              map[(i * size_y) + (j+1)] = map[(i * size_y) + j] + 1;
              num++;
            }
          }
        }
      }
    }
  } while (map[((target_x - 1) * size_y) + (target_y - 1)] == -1  &&  num < (size_x * size_y));
}