Given a list of simple obstacle polygons, build the visibility graph and find the shortest path between two points
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Collinear bug: different behavior on CW vs CCW edges incident on p in visible_vertices() #12
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TaipanRex closed 8 years ago
tests test_colin1 and test_colin2 illustrate this. One way to solve this would be to track the previous point, if it was visible, p is also visible.