http://thespoke.net/photos/ahcox/picture928889.aspx
I've made the pleural cavity navigable.

What this does is give an escape path from WCs. In the standard map the branching structure traps any bots and forces them to fight.


The backdoors are all drawn as little green arrows. Some small green dots are just to open up islands: they dont lead anywhere.

A* illustration with g (cost from cell to staring point on shortest path) shaded in green and h (manhatten distance from cell to goal) shaded in blue.





A* does well here when it has nothing in it's way