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I'm looking for a pathfinding algorithm in the following situation: - Obstacles are polygons, which can be convex. - There are static obstacles, and dynamic obstacles such as buildings or dead zones (they don't move but can be destroyed/removed). Now, I choose two points (A and B) on the board and draw a circle around A. I want to find a point C on that circle so that the shortest path from A to B passes through C or, at least, not far from C. I can precompute things on the static obstacles, and perform some computations on dynamic obstacles when they appear or disappear, but I prefer not to compute the entire path from A to B to find point C.

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