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Obstacle Avoidance steering behavior: how can an entity avoid an obstacle while other forces are acting on the entity?

I'm trying to implement the Obstacle Avoidance steering behavior in my 2D game. Currently my approach is to apply a force on the entity, in the direction of the normal of the heading, scaled by a ...
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Implementing ClearPath (crowd pathfinding)

This is the academic article: http://gamma.cs.unc.edu/CA/ClearPath.pdf Here is the confusing part (marked in red): The first part is the path in which the object will move. The first part of ...