Includes 2 main parts: - Path finding through 2D polygons using the A star algorithm and navigation-mesh generation Field of vision / shadows / line of sight / lighting. The basic polygon and point classes are the KPolygon and KPoint. KPolygon contains a list of KPoints for vertices as well as a center (centroid), area, and radius (circular bound or distance from center to furthest point). KPolygon was born out of the need for a more game-oriented and ...