while I wouldn't have understood this right at the beginning, this article did help me organize code better on e I had learned the fundamentals. prolly not that useful to an expert tho
(edit - renamed thread ~neo)
some more articles i have read in the past year, some are for beginners, but i feel that i had to get past the beginning stages before a lot of this made sense to me.
theta star path smoothing:
Renamed the thread for clarity.