( (safe(NX,NY),heuristic(NX,NY),recurse(NX,NY,Direction,NPath,NScore,ZROT));
          ( not(Rotation \== 0) -> clockwise(Direction,NDir),append(Path,[[-1,-1]],Arot),Nrot is 1,recurse(X,Y,NDir,Arot,Score,Nrot);false);
          ( not(Rotation \== 0) -> anticlockwise(Direction,NDir),append(Path,[[-2,-2]],Arot),Nrot is 1,recurse(X,Y,NDir,Arot,Score,Nrot);false);
          (safe(NX,NY),not(heuristic(NX,NY)),recurse(NX,NY,Direction,NPath,NScore,ZROT))
        ),