Shortest paths in 3-dimensional space of a hypersonic glider in a heterogeneous environment are considered in this paper. The environment is heterogeneous in the sense that the maximum curvature of the vehicle path varies and depends on the position of the vehicle. Path generation is based on the Dubins-like model. It assumes that initial and final states are sufficiently far from each other so that the CSC (Curve-Straight line-Curve) path is the shortest path between both states. Paths are calculated based on the optimal control theory and a geometrical approach. This method is computationally fast and easy to implement in a real time system. Moreover, paths found by this method are more realistic than existing Dubins' paths.