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rts unit movement interpolation

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Hi, I'm gonna to write an simple RTS game and I have a question: Is there any reliable method of unit movement interpolation? I have list of nodes like this point path[...]; I need to gain interpolation which additionally provides 1. change of unit direction(destination path) while unit is on the move 2.Collision avoidance for multiple units. It can just be that: unit A stops for a while until unit B passes or unit A searches for a new path. Thx 4 respond!

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