3d Point'n'click (ie. Sam and Max) pathfinding?

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Do you mean a* pathfinding? There are some decent libs lying about for that, or do you mean something even more complicated?

You could have waypoints instead (Basically pivots). You place the waypoints at junctions in the scene, and have the player walk towards them, and do a very quick distance calculation and find the quickest path. A slightly simplified version of the grid based pathfinding. Works best with less waypoints i feel.