Gets into a (potentially infinite) loop trying to find a location that is both far enough from obstacles, and between two given points that are both out of collision.
Changed the smoothing to move the point on the vector pointing bewteeen prev and curr, which garuntees that the resulting position will be inside the valid region of the SDF.
Gets into a (potentially infinite) loop trying to find a location that is both far enough from obstacles, and between two given points that are both out of collision.