Figure 1.

Floor plan (a) and automatically generated transition data structures (b,c) for the ground floor of the historic building ( 71 $\mathrm{m}$ × 53 $\mathrm{m}$). To reach every nook and cranny, the generated graph (b) requires many nodes and edges. The depicted version uses a coarse node-spacing of 90 $\mathrm{c}$$\mathrm{m}$ (1700 nodes) but barely reaches all doors and stairs. A navigation mesh generated for the same building required only 320 triangles (c) and reaches every corner within the building.