This is a really clear explanation of the algorithm. It's very powerful but at the same time reasonably simple to implement. However, a lot of the explanations

This is a really clear explanation of the algorithm. It's very powerful but at the same time reasonably simple to implement. However, a lot of the explanations of the algorithm either are extremely convoluted (Wikipedia) or they are handwavey or broken (game development 'community' sites). This is a good middle ground. OT: As an exercise I did a 6510 Assembly implementation on the c64 a while ago on a pretty tiny grid (20x10 IIRC) and that worked wonderfully. Not sure if there would be any practical use for it, but there you go.