Finding Shortest Paths in a Sequence of Triangles in 3D by the Planar Unfolding

We present an efficient algorithm for finding the shortest path joining two points in a sequence of triangles in three-dimensional space using the concept of funnels associated with common edges along the sequence of triangles and the planar unfolding for each funnel. We show that the unfolded image of a funnel is a simple polygon, it thus is non-overlapping. Therefore, such funnels are determined iteratively to their associated common edges by the planar unfolding and the shortest path joining two points is determined by cusps of these funnels.