Hi, I'm faced with the following problem: I'd like to pathfind from point A to point B around various axis-aligned rectangle obstacles. However, I can't preprocess the area to improve performance. The only thing I'm given to pathfind on is the list of obstacle rectangles, and the start and end points (because the rectangles change constantly). It seems that all paths from A to B go through either A, B, or a rectangle corner point, so it seems like I can use A* from A to B on a visibility graph determined by those 3 types of points. However, I am uncertain about how to process the rectangles in a quick fashion to get this graph; there can be up to about 200 rectangles on screen at any given time, and calculating whether each point is directly reachable from every other point results in a very noticeable delay for the pathfinding. Is there a fast way to go about pathfinding through this?