bevy_orca 0.2.0

Reciprocal Velocity Obstacles (ORCA) local collision avoidance on bevy_math's Vec2 — the 2-D linear program, no ECS.
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bevy_orca
Copyright (c) 2026 C. Thomas Brittain

This product includes software derived from RVO2, the reference implementation of
Optimal Reciprocal Collision Avoidance:

    RVO2 Library
    Copyright 2008 University of North Carolina at Chapel Hill
    Licensed under the Apache License, Version 2.0
    https://gamma.cs.unc.edu/RVO2/

The ORCA half-plane construction and the three-stage linear program in `src/lib.rs`
follow that implementation closely enough that its identifiers are deliberately kept —
`linear_program1` / `linear_program2` / `linear_program3`, `t_left` / `t_right`, and
`RVO_EPSILON` (here `EPSILON`) — so the two can be read side by side.

The algorithms are described in:

    J. van den Berg, M. Lin and D. Manocha,
    "Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation",
    IEEE International Conference on Robotics and Automation, 2008.
    DOI 10.1109/ROBOT.2008.4543489

    J. van den Berg, S. J. Guy, M. Lin and D. Manocha,
    "Reciprocal n-Body Collision Avoidance",
    Robotics Research: The 14th International Symposium ISRR, 2011.
    DOI 10.1109/TRO.2011.2120810