Voxel path finding
I've been working on path finding for Wicked Engine. It works by voxelizing the scene, then running the A* path finding algorithm inside the voxel structure. The resulting rigid voxel path is then simplified to a smaller amount of waypoints with the DDA line tracing algorithm to determine which waypoints are occluded from each other. Finally, when we have fewer waypoints, then I apply a Catmull-Rom spline to smoothen the final path.
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