A convex polygon, room for some of the side walls, some edge is passable, with a radius R pathfinding role within the convex polygons, how to determine the role by specifying the export?

CodePudding user response:

Fill a picture

CodePudding user response:

P1 to p0 distance is larger than 2 radius can not through yet

CodePudding user response:

2 specified exports, such as exports

CodePudding user response:

And again a figure