I finished my Java pather. Does a horrible awful disgusting painfully bad job of reducing its world to waypoints, then connecting them as necessary. It's somewhere like
http://www.iub.edu/~roboclub/ or something - a simple best-first search, removing expanded waypoints and building a list of possible paths, works really well. Might be tricky in a language without vectors - you'd have a finite number of possible paths and a finite path length - but doable.