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What is the best way to smooth a long path with splines? I first implemented a Bezier curve but then realised that I would have to join a lot of them.

I used A* on a weighted grid so I can't use Theta or other any angle algorithms stuff.

I basically would like to achieve the light blue path on the following picture (credit to Amit), but on much longer paths:

enter image description here

How do game programmers do?

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