Their data structures are fast to initialize and maintain, and user-created maps come with no additional offline precomputations. After trying a number of approaches, from optimizing traditional A* as much as possible to implementing different hierarchical and heuristic schemes, the Sauropod Studio team developed a very efficient and straightforward approach that visits an average of 100 to 1000 times less nodes than its non-hierarchical counterparts.
This presentation explores the hierarchical pathfinding system developed for 'Castle Story', a voxel-based strategy game where intelligent agents coordinate to build castles and walls on dynamically deformable islands of up to a million voxels of walkable surface.
Hierarchical Dynamic Pathfinding for Large Voxel Worlds
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