I developed a terrain rendering engine capable of loading BT height map files.
The engine also features

• per-vertex and pixel lighting
• patch-based Level of Detail (LOD)
• patches stitched together using 16 different index buffer types dynamically generated at load time
• LOD determined by distance and intrinsic detail of each patch

Using the landscape engine, I implemented A* pathfinding for AI agents to navigate around the terrain.
The algorithm is biased toward flatter surfaces and avoids water at all costs, hence water is black in the colored overlay. Heights are represented topologically in shades of blue, with darker shades meaning more rugged terrain. The path is yellow, with green and red being the open and closed lists.