Visualizer / 2.5D ground planeLIVE
Tuning controls
Telemetry
RUNNING
60
14.0
84.0
0.0
0.0
0.0
N/A
0.0
0.0
0.0
0
0.0
4
Path repulsor model / force equations
The drone is a point mass steered by a summed force field each frame. No graph search, no heap, no per-tick path recompute. The combined force is integrated with semi-implicit Euler and clamped to a max force and max speed.
F_attr = k_attr · (goal - pos)
F_edge = k_rep · (1 - d / r_min) ^ α
F_vert = k_v · (1 - d / r_v) ^ 2 · n_hat / d
v += F · dt; v *= γ; pos += v · dt
Attraction pulls the drone toward the goal. Each obstacle edge and vertex contributes a repulsive field that falls off with distance, so the drone curves around buildings instead of cutting corners. Damping and speed limiting keep the motion stable. Click the canvas to retarget the goal, or drag a building to watch the field and path react live.
F_net = F_attr + Σ F_edge + Σ F_vert
O(obstacles · (edges + vertices))
O(n log n) heap search per tick - removed