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Dynamic Avoidance

While Mercuna’s 3D pathfinding ensures that agents never collide with static geometry, moving obstacles, such as other agents, are handled using our dynamic avoidance system. Our approach is based on the industry standard ORCA velocity obstacles algorithm for moving objects, augmented with information from the navigation octree to account for fixed boundaries.

Every frame, Mercuna checks each agent’s desired velocity to establish whether its planned trajectory would result in a collision with an obstacle. If so, by checking the movement of all nearby agents, along with the octree boundaries, the velocity is modified just enough to ensure smooth, trouble-free motion.

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