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Visibility polygon
Polygonal region of all points visible from a given point in a plane / From Wikipedia, the free encyclopedia
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In computational geometry, the visibility polygon or visibility region for a point p in the plane among obstacles is the possibly unbounded polygonal region of all points of the plane visible from p. The visibility polygon can also be defined for visibility from a segment, or a polygon. Visibility polygons are useful in robotics, video games, and in various optimization problems such as the facility location problem and the art gallery problem.
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If the visibility polygon is bounded then it is a star-shaped polygon. A visibility polygon is bounded if all rays shooting from the point eventually terminate in some obstacle. This is the case, e.g., if the obstacles are the edges of a simple polygon and p is inside the polygon. In the latter case the visibility polygon may be found in linear time.[1][2][3][4]