https://github.com/rearming/circular-obstacle-pathfinding

Implementation of Circular Obstacle Pathfinding (also with A-Star). Integration of Optimal Reciprocal Collision Avoidance.
https://github.com/rearming/circular-obstacle-pathfinding

csharp gamedev obstacle-avoidance pathfinding unity unity-3d

Last synced: about 1 year ago
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Implementation of Circular Obstacle Pathfinding (also with A-Star). Integration of Optimal Reciprocal Collision Avoidance.

• Host: GitHub
• URL: https://github.com/rearming/circular-obstacle-pathfinding
• Owner: rearming
• Created: 2020-10-14T10:57:57.000Z (over 5 years ago)
• Default Branch: main
• Last Pushed: 2020-12-18T07:45:06.000Z (over 5 years ago)
• Last Synced: 2025-04-02T08:23:35.653Z (about 1 year ago)
• Topics: csharp, gamedev, obstacle-avoidance, pathfinding, unity, unity-3d
• Language: C#
• Homepage:
• Size: 6.4 MB
• Stars: 19
• Watchers: 3
• Forks: 1
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

          
## Circular Obstacle Pathfinding and A-Star

[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. \

A-Star is also [implemented](Assets/Scripts/Pathfinding/Algorithms/AStar.cs) to find the shortest path on that graph.

### Demo gifs:

**Pathfinding with changing goal**\

![](Readme/cop-1.gif)

**Another example**\

![](Readme/cop-3.gif)

**Graph recalculation when obstacles move**\

![](Readme/cop-2.gif)

## Optimal Reciprocal Collision Avoidance

Also [ORCA](http://gamma.cs.unc.edu/ORCA/) have been integrated into a project with [RVO-2 library](https://github.com/snape/RVO2-CS). 

### Examples:

![](Readme/oca-1.gif)



![](Readme/oca-2.gif)