set a game in a large maze. choose a point as the center of the maze. (this could be done in a principled way: graph radius, graph center.)
early parts of the game require exploring only points in the maze that are accessible within (say) 10 path units from the center. e.g., fetch quests. if you wander beyond that, you are given a warning that exploring so far is not necessary at this level of the game. because the accessible area is connected, there is no need to go beyond it to complete a quest.
as you progress, you become permitted / encouraged / required to explore farther from the center. what you've previously already learned about how to navigate central areas remains useful. this is breadth-first search as level design.
if the maze dimensions are x-by-long, the amount of new maze that becomes visible for each new level can remain constant. Eller's algorithm for maze generation and some other maze-generation algorithms allow generating infinitely tall mazes.
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