Function Funnel.Simplify

void Simplify (

List<PathPart>	parts
ref List<GraphNode>	nodes
System.Func<GraphNode, bool>	filter=null

)

void Simplify (

PathPart	part
IRaycastableGraph	graph
List<GraphNode>	nodes
List<GraphNode>	result
int[]	tagPenalties
int	traversableTags
System.Func<GraphNode, bool>	filter=null

)

Simplifies a funnel path using linecasting.

Running time is roughly O(n^2 log n) in the worst case (where n = end-start) Actually it depends on how the graph looks, so in theory the actual upper limit on the worst case running time is O(n*m log n) (where n = end-start and m = nodes in the graph) but O(n^2 log n) is a much more realistic worst case limit.

Requires graph to implement IRaycastableGraph