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Trying to learn -tool radius compensation -tool path planning -tool path generation to fill closed contour

My goal is to be able to generate a toolpath similar to the following image

ToolPath in green

currently I am able to generate contour tracking taking into account the radius of the tool, and also detect areas impossible to reach

Basic contour Tracking Basic contour Tracking with collision detection

useful links: https://github.com/ejbosia/Fermat-Spirals/blob/main/Connected%20Fermat%20Spirals.pdf stackOverflow https://github.com/AngusJohnson/Clipper2

a big thank you to @SebLague and its great tutorial on ShapeEditor