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I want is a character to walk along a path defined as a waypoint sequence. For example, a soldier patrolling around a castle.

However, I want the soldier to avoid (dynamic) obstacles, without deviating from the path too much.

Patrol route without obstruction Obstructed patrol route and corrected path

How can this be done?

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Remove from the path any waypoints that lie inside the obstacle and then use your favorite pathfinding routine to connect the waypoints remaining on each side.

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