
494 Chapter 8 Collision Detection
Figure 8.36 An obstacle projection consisting of three triangles. The envelope is marked in blue
and is selected to be the 2D obstacle polygon for blueprints. The inner polygon
marked in yellow is not necessary for the pathfinding, but is considered to be part of
the silhouette.
disk (bottleneck in disk I/O operations) or they must be computed only as needed
(bottleneck in CPU computation). Preferably in this situation, the obstacle polygons
should be reduced in size by not requiring an exact fit of the projected obstacle data.
For example, you could use oriented bounding boxes or discrete oriented polytopes
as proxies ...