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Agents with different radius on the same navmesh

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In Starcraft2, dozens of units with different radius request pathfinding, if generate navmesh for each size of unit, the efficiency is not high.
I have read [color=#282828][font=helvetica, arial, verdana, tahoma, sans-serif][size=3][left][background=rgb(250, 251, 252)]Douglas Demyen's TRA* article [url="http://skatgame.net/mburo/ps/thesis_demyen_2006.pdf"]http://skatgame.net/mburo/ps/thesis_demyen_2006.pdf[/url] [/background][/left][/size][/font][/color]
[color=#282828][font=helvetica, arial, verdana, tahoma, sans-serif][size=3][left][background=rgb(250, 251, 252)]and this [url="http://www.gamedev.net/topic/612385-best-way-to-shrink-a-navigation-mesh-to-account-for-npc-radius/"]best way to shrink a navigation mesh to account for npc radius[/url][/background][/left][/size][/font][/color]
Is there any solutions?

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