{"id":13662030,"url":"https://github.com/rearming/circular-obstacle-pathfinding","last_synced_at":"2025-04-23T04:36:49.798Z","repository":{"id":83277710,"uuid":"303986896","full_name":"rearming/circular-obstacle-pathfinding","owner":"rearming","description":"Implementation of Circular Obstacle Pathfinding (also with A-Star). Integration of Optimal Reciprocal Collision Avoidance.","archived":false,"fork":false,"pushed_at":"2020-12-18T07:45:06.000Z","size":6714,"stargazers_count":19,"open_issues_count":2,"forks_count":1,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-04-02T08:23:35.653Z","etag":null,"topics":["csharp","gamedev","obstacle-avoidance","pathfinding","unity","unity-3d"],"latest_commit_sha":null,"homepage":"","language":"C#","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rearming.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2020-10-14T10:57:57.000Z","updated_at":"2025-03-26T06:09:01.000Z","dependencies_parsed_at":null,"dependency_job_id":"d9610dfc-05ad-4c02-aa30-c528694cee26","html_url":"https://github.com/rearming/circular-obstacle-pathfinding","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rearming%2Fcircular-obstacle-pathfinding","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rearming%2Fcircular-obstacle-pathfinding/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rearming%2Fcircular-obstacle-pathfinding/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rearming%2Fcircular-obstacle-pathfinding/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rearming","download_url":"https://codeload.github.com/rearming/circular-obstacle-pathfinding/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250372528,"owners_count":21419719,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["csharp","gamedev","obstacle-avoidance","pathfinding","unity","unity-3d"],"created_at":"2024-08-02T05:01:47.336Z","updated_at":"2025-04-23T04:36:45.740Z","avatar_url":"https://github.com/rearming.png","language":"C#","funding_links":[],"categories":["C\\#"],"sub_categories":[],"readme":"## Circular Obstacle Pathfinding and A-Star\n\n[Implementation](Assets/Scripts/Pathfinding/CircularObstacleGraph/CircularObsticleGraphGenerator.cs) of COP [algorithm](https://redblobgames.github.io/circular-obstacle-pathfinding/). It creates a [graph](Assets/Scripts/Pathfinding/Graph/Graph.cs) based on a forest of rounded obstacles. \\\nA-Star is also [implemented](Assets/Scripts/Pathfinding/Algorithms/AStar.cs) to find the shortest path on that graph.\n\n### Demo gifs:\n\n**Pathfinding with changing goal**\\\n![](Readme/cop-1.gif)\n\n**Another example**\\\n![](Readme/cop-3.gif)\n\n**Graph recalculation when obstacles move**\\\n![](Readme/cop-2.gif)\n\n## Optimal Reciprocal Collision Avoidance\n\nAlso [ORCA](http://gamma.cs.unc.edu/ORCA/) have been integrated into a project with [RVO-2 library](https://github.com/snape/RVO2-CS). \n\n### Examples:\n\n![](Readme/oca-1.gif)\n\n\u003cimg src=\"Readme/oca-3.gif\" alt=\"drawing\" width=\"800\"/\u003e\n\n![](Readme/oca-2.gif)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frearming%2Fcircular-obstacle-pathfinding","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frearming%2Fcircular-obstacle-pathfinding","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frearming%2Fcircular-obstacle-pathfinding/lists"}