Why no RVO2 and orca


currentl version 4.2.x use rvo for local avoidance.However, the rvo2 and orca seems to be more high performance than it.

In 3.14 https://arongranberg.com/astar/docs_beta/local-avoidance.html

it said,

How to use the local avoidance in the A* [Pathfinding]Project.

The local avoidance included in the A* [Pathfinding] Project based on RVO - Reciprocal Velocity Obstacles and ORCA - Optimal Reciprocal Collision Avoidance. The implementation itself is largely based on the RVO2 Library but has been extended with many features to handle for example agents at different levels (agents at different floors in a building should not collide for example).

But on current version

it said,

The local avoidance included in the A* [Pathfinding]Project is based on RVO: Reciprocal [Velocity Obstacles] The implementation is sampling based and uses gradient descent to find the optimal velocity. It is well suited to for example human agents that move around. It is less well suited to vehicles that cannot change their velocity quickly.

so current version ,there is no rvo2 and orca.

ORCA was removed in the main release a while ago due to licensing issues. However, recently the license for the rvo2 library changes, so the current beta version has re-introduced orca.

See https://www.arongranberg.com/astar/download