Uhm. What you had to do instead of ray casting in real time: - build a graph of connectivity of all areas of the map OFFLINE - make sure that graph also has i

Uhm. What you had to do instead of ray casting in real time: - build a graph of connectivity of all areas of the map OFFLINE - make sure that graph also has information about disconnected components and never apply A* to points which are disconnected from each other Do A* on that graph.