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Pathfinding on triangulated mesh optimization on apex and tunnel method information

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I need to implement pathfinding on triangulated mesh. Currently, I am using A* as the base. After the path is found, I need to straighten it. I searched the web for information and found, smoe information on apex and tunnel method. It looks promising. Though, I cannot find out details on the method. Would anyone knows about that can give me some explanation or point me to the right web pages? Thanks.

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