Indoor Navigation Pseudocode

START
SET numExhibits = Total number of exhibits
    FOR each exhibit e = 1 to numExhibits
    Find midpoint m
    Find adjacent exhibits of e by doing this
          FOR every other exhibit a = 1 to numExhibits do the following
          IF e is sharing coordinate(s) with a, add a.
          ELSE Line l drawn between e.m and a.m intersects any side s of exhibit
              FOR each exhibit x = 1 to numExhibits do the following
                  Use LeMothe’s algorithm to find intersection point of two line segments l and s.
                  IF they do not intersect add x,
                  ELSE CONTINUE.
    Find pathway points of e, let’s limit them to 8 points (in 8 directions) per exhibit
          Choose pathway point p close to exhibit
          FOR every adjacent exhibit of e
          IF p is inside e CONTINUE
          ELSE IF p is on e CONTINUE
          ELSE add p
    Last step is to find points that each pathway point e.p is connected to. FOR each pathway point e.p do the following
          FOR each adjacent exhibit j in e.a do the following
              FOR every other exhibit k = 1 to numExhibits do the following
                IF a line drawn between j.c and e.c does not intersect with any sides of k using LeMothe’s algorithm, add j.c
END