Given a point s and a set of h pairwise disjoint polygonal obstacles with a total of n vertices in the plane, after the free space is triangulated, we present an O(n+h log h) time and O(n) space algorithm for building a data structure (called shortest pat
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机译：给定一个点s和一组h个成对的不相交多边形障碍物，它们在平面中共有n个顶点，在对自由空间进行三角剖分后，我们提出了O（n + h log h）时间和O（n）空间算法建立数据结构（称为最短拍
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