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how to make the npc follow a moving target(moved by physics) smoothly?

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Hi, I have several NPC want to follow the player, if the player stand still, I can use liner interpolation to move the npc towards the player's position, and it works well, however, it's jiggle if the player is moving as well(player is moved by force with physics, but npc is just controlled by updating the position directly). Any ideas to make the npc to follow the player smoothly? Thanks

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