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Combining "waypoints"

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Hey everyone. Looking for some ideas to do something. Basically what I have so far is an app that builds waypoints in the middle of all the actual face geometry in the level, taking into account the dotproduct of the face normal with world-up to make sure its only walkable surfaces, and a minimum distance between waypoints. Works fine and all, but the next step I would like to be able to "reduce" the number of waypoints. The maps are primarily outdoors so many of them are visible to each other. Should I generate the actual connections between them first and then reduce according to those results or should I reduce waypoints BEFORE doing the path connections. Either way, I''m not too sure how to go about it. Any ideas are welcome.

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