Dynamic Collision Avoidance System with Spatial Partitioning - Unity ECS/DOTS

In this video two of the most commonly used collision avoidance methods - placing an agent at an average location to avoid collision Vs avoiding the nearest agent - are compared. Simple yet optimized spatial partitioning methods can be used to achieve highly parallel collision avoidance behaviour for a large number of agents. I tried and failed while using unrestricted Ray Casting to find nearby agents though - as usually Ray Casting much be hidden behind a condition. Source Code - https://github.com/ForgingStation/Unity-DOTS_Collision_Avoidance_System UnitV2_Component - The componentData struct which holds the necessary data for every unit. Unit_Spawner_Base - A Monobehaviour class spawning entity with necessary components. Any code block with a comment - Debug - can be commented to increase performance. Unit_Movement_System - A system base operating on UnitV2_Component, responsible for movement and collision avoidance. Two methods demonstrated in this video exist as separate foreach loops on entities. Unit_Buffer - A dynamic buffer holding two locations between which units traverse. This system ac be clubbed with DOTS- NavMesh Query system to achieve collision avoidance while navigating. Bullet Points used while recording - Cloning the DOTS Navmesh Query Code - verify there is no difference in behaviour. RayCast problem HashKey calculation Spatial separation Hash bucket visualization with cell size 8 & 20 Persisting Map data throughout the frame and rebuilding the map - NativeMultiHashMap Collision Avoidance walkthrough, result & comparison Other papers on Collision Avoidance. Check out the following links to know more about spatial partitioning. https://en.wikipedia.org/wiki/Space_partitioning Quadrant System in Unity ECS - https://www.youtube.com/watch?v=hP4Vu6JbzSo Quad Tree - https://www.youtube.com/watch?v=OJxEcs0w_kE *** Music - Please - Wayne Jones***