Circular Obstacle Pathfinding and A-Star

Implementation of COP algorithm. It creates a graph based on a forest of rounded obstacles.
A-Star is also implemented to find the shortest path on that graph.

Demo gifs:

Pathfinding with changing goal

Another example

Graph recalculation when obstacles move

Optimal Reciprocal Collision Avoidance

Also ORCA have been integrated into a project with RVO-2 library.

Examples: