pyorca is a Python implementation of the ORCA local collision avoidance algorithm, made from scratch.

pyorca.py and halfplaneintersect.py contain copious amounts of comments and notes regarding the implementations of their respective algorithms.

test.py contains a simple pygame-powered demo I used to test my implementation.

• Implement the 3D LP fallback described in the paper.

Copyright (c) 2013 Mak Nazecic-Andrlon

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