主题： pathfinding
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Flow fields: share a destination without sharing one rigid path
Build reusable cost-to-go and direction fields for crowds, preserve weighted-edge semantics, and invalidate cached fields when their movement assumptions change.
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Navigation meshes, path corridors, and local avoidance
Keep route planning, clearance, local steering, and physical movement separate so agents can navigate narrow passages and react to changing obstacles coherently.
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A* heuristics: preserve the meaning of movement cost
Choose a lower-bound heuristic for the actual movement graph, handle improved routes correctly, and verify path quality against an uninformed search.
机器可读： JSON