I solved it:

```
extends Node2D
var points : Dictionary = {}
var points_to_add : Array = []
var edges : Dictionary = {}
var max_generation = 10
var points_distance = 30
var point_radius = 5
var max_cycles_per_update = 60
func _ready():
init_filling(Vector2(300, 300))
func _physics_process(delta):
var space_state = get_world_2d().direct_space_state
var counter = 0
while not points_to_add.empty() and counter < max_cycles_per_update:
cycle_once(space_state)
counter += 1
update()
func init_filling(start_position : Vector2):
points_to_add.clear()
points_to_add.push_back({"position": start_position, "x": 0, "y": 0})
func fill_points():
var space_state = get_world_2d().direct_space_state
while not points_to_add.empty():
cycle_once(space_state)
func cycle_once(space_state) -> void:
var point = points_to_add.pop_front()
if "from" in point:
var result = space_state.intersect_ray(point.from, point.position)
if not result.empty() and result.collider.is_in_group("Obstacles"):
return
if point_already_exists(point.position):
add_edge(point.from, point.position)
return
if point.x >= max_generation or point.y >= max_generation or point.x <= -max_generation or point.y <= -max_generation:
return
if "from" in point:
add_edge(point.from, point.position)
points[point_hash(point.position)] = {"position": point.position, "x": point.x, "y": point.y}
var pos = point.position + Vector2(1, 0) * points_distance
if not point_already_exists(pos):
points_to_add.push_back({"position": pos, "x": point.x + 1, "y": point.y, "from": point.position})
pos = point.position + Vector2(-1, 0) * points_distance
if not point_already_exists(pos):
points_to_add.push_back({"position": pos, "x": point.x - 1, "y": point.y, "from": point.position})
pos = point.position + Vector2(0, 1) * points_distance
if not point_already_exists(pos):
points_to_add.push_back({"position": pos, "x": point.x, "y": point.y + 1, "from": point.position})
pos = point.position + Vector2(0, -1) * points_distance
if not point_already_exists(pos):
points_to_add.push_back({"position": pos, "x": point.x, "y": point.y - 1, "from": point.position})
func point_already_exists(position : Vector2) -> bool:
return points.has(point_hash(position))
func point_hash(position : Vector2) -> String:
return "x" + String(position.x) + "y" + String(position.y)
func add_edge(from : Vector2, to : Vector2) -> void:
if edge_already_exists(from, to) or edge_already_exists(to, from):
return
edges[edge_hash(from, to)] = {"from": from, "to": to}
func edge_already_exists(from : Vector2, to : Vector2) -> bool:
return edges.has(edge_hash(from, to))
func edge_hash(from : Vector2, to : Vector2) -> String:
return point_hash(from) + "-" + point_hash(to)
func _draw():
# var label = Label.new()
# var font = label.get_font("")
for key in points.keys():
draw_circle(points[key].position, point_radius, Color("#ffff0000"))
# draw_string(font, points[key].position, String(points[key].x) + ":" + String(points[key].y), Color(1, 1, 1))
for key in edges.keys():
draw_line(edges[key].from, edges[key].to, Color("#ff00ff00"))
# label.free()
```

Result: