ORCA / RVO2 Implementation for Unity — Multithreaded using the job system.

ORCA(Optimal Reciprocal Collision Avoidance) in Unity.

This is a pybind11 version of rvo2. Based on the python wrapper, an NH-ORCA algorithm is implemented for two-wheeled robots (such as turtle bot).

Reactive crowd simulator used in the IROS 2020 paper: "L2B: Learning to Balance the Safety-Efficiency Trade-off in Interactive Crowd-aware Robot Navigation"

On the go drone show using PX4 and decentralised collision avoidance

Unity万人同屏 GPU动画 海量单位渲染 移动 索敌 性能优化方案 Demo

Erlang version of rvo2, from https://github.com/snape/RVO2