[brobob]

You can take a look at the pathfinding of e.g. warzone2100 (https://github.com/Warzone2100/warzone2100/blob/master/src/f..., battle for wesnoth (https://wiki.wesnoth.org/LuaAPI/wesnoth/paths) or 0ad (https://github.com/0ad/0ad/blob/master/source/simulation2/he...)