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visibility shroud ( ala starcraft, or any other RTS game )

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Anyone have any ideas on a good way to implement a visibility shroud (like in starcraft where it is dark where you haven''t been, and light where you have been) in 3D? Shrouding a heightmap is easy... but what if you have a bunch of other geometry on the map (units, building, tree, etc..) how would you go about shrouding them? Any good suggestion / ideas would be appreciated.

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