i would like to create a full 3d pathfinding system using convex hulls. the areas to be traversed are both outdoor and indoor. obviously, a spatial partition method would be handy for this. what spatial partition method works best for outdoor & indoor areas (octrees, adaptive kd trees...)?? right now i'm leaning towards a kd tree with a surface area heuristic to create a minimal number of convex hulls. anyone out there have experience with 3d pathfinding?