this.numIterations = 10;

    this.showUnexplored = false;

    this.visitIncrement = 1;

    this.mazeGenerationMethod = "DepthFirstSearch";

    this.stateSwitchMilliseconds = 2000;

    this.prev = goal;

    this.current = goal;

    this.next = goal;

    this.grid = grid;

    this.cols = cols;

    this.rows = rows;

    this.rooms = rooms;

    this.exits = exits;

    this.visitCount = 1;

    this.stack;

    this.unexplored;

    this.currentColor;

    this.unexploredColor;

​

    this.startTime;

    this.elapsedTime;

​

    this.reset = function(){

        this.startTime = new Date();

        this.state = "DepthFirstSearch";

        this.visitCount = 1;

        this.stack = [];

        this.unexplored = [];

        this.currentColor = color(0, 0, 255);

        this.unexploredColor = color(39, 255, 127);

        this.prev = this.current;

        this.next = this.current;

        // if(this.numIterations > this.grid.length) {

        //  this.numIterations = this.grid.length;

        // }

        for (let i = 0; i < this.grid.length; i++) {

            var cell = this.grid[i];

            cell.visited = 0;

        }

    }

​

    this.depthFirstSearch = function() {

        this.current.visit(this.visitCount, startHue);

        let neighbors = this.current.checkNeighbors(sortFunc);

        if (this.showUnexplored){

            for (let i = 1; i < neighbors.length; i++) {

                const neighbor = neighbors[i];

                if(this.unexplored.length > 0){

                    let found = this.unexplored.find((n) => {

                        return n.x == neighbor.x && n.y == neighbor.y;

                    });

                    if (found != undefined) break;

                    console.log('found: ', found);

                }

                this.unexplored.push(neighbor);

            }

        }

        if(neighbors[0]) {

            this.next = neighbors[0];

            this.visitCount += this.visitIncrement;

            this.current.visit(this.visitCount, startHue);

            this.stack.push(this.current);

            // this.current.removeWalls(this.current, this.next);

            this.next.parent = this.current;

            this.prev = this.current;

            this.current = this.next;

            if (this.showUnexplored) {

                // console.log(this.unexplored);

                let unexploredIndex = this.unexplored.findIndex((n) => {

                    return n.x == this.next.x && n.y == this.next.y;

                });

                if (unexploredIndex >= 0) {

                    this.unexplored.splice(unexploredIndex, 1);

                }

            }

            return false;

        }

        if (this.stack.length > 0) {

            this.visitCount -= this.visitIncrement;

            this.prev = this.current;

            this.current = this.stack.pop();

            this.next = this.stack.length > 0 ? this.stack[this.stack.length - 1] : this.current;

            return false;

        }

        hueShiftIncrement = 2;

        return true;

    }

​

    this.originShift = function() {

        // Create random out-edge on root

        this.current.getConnections();

        let connectionPool = [];

        for (let i = 0; i < this.current.connections.length; i++) {

            const connection = this.current.connections[i];

            if ( connection ) connectionPool.push(connection);

        }

        sortFunc(connectionPool);

        this.next = connectionPool[0];

        this.current.parent = this.next;

        this.next.parent = undefined;

        this.prev = this.current;

        this.current = this.next;

        this.current.shiftHue(10);

    }

​

    this.show = function() {

        // this.currentColor = color((this.current.c.h + 180) % 360, this.current.c.s, this.current.c.b);

        // this.prev.highlight({h:100, s:255, b:255, a:127});

        // this.current.highlight(this.currentColor);

        // this.current.highlight({h:50, s:255, b:255, a:127});

        this.next.highlight({h:0, s:255, b:255, a:127});

        for (let i = 0; i < this.unexplored.length && this.showUnexplored; i++) {

            this.unexplored[i].highlight(this.unexploredColor);

        }

        for (let i = 0; i < grid.length; i++) {

            grid[i].show();

        }

        // this.prev.drawBorderWalls(this.next.wallWidth, {h:250, s:255, b:255, a:127});

        // this.current.drawBorderWalls(this.current.wallWidth, {h:0, s:255, b:255, a:127});

        // this.next.drawBorderWalls(this.next.wallWidth, {h:50, s:255, b:255, a:127});

    }

​

    this.update = function() {

        if (paused) return;

        switch (this.state) {

            case "OriginShift":

                for (let i = 0; i < this.numIterations; i++) {

                    this.originShift();

                }

                break;

            case "DepthFirstSearch":

            default:

                for (let i = 0; i < this.numIterations; i++) {

                    // while (!this.depthFirstSearch()) {} 

                    if (this.depthFirstSearch()) {

                        this.elapsedTime = new Date() - this.startTime;

                        this.elapsedTime = this.elapsedTime > this.stateSwitchMilliseconds ? this.elapsedTime : this.stateSwitchMilliseconds;

                        this.startResetTimer(this.elapsedTime);

                        this.state = "OriginShift";

                    break;

                    }

                }

                break;

        }

    }

​

    this.startResetTimer = async function (milliseconds = this.stateSwitchMilliseconds) {

        await new Promise((resolve) => {

            setTimeout(() => {

                this.reset();

            }, milliseconds);

        });

    }

}