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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]

[background=rgb(250, 251, 252)]Douglas Demyen's TRA* article http://skatgame.net/mburo/ps/thesis_demyen_2006.pdf [/background]

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[color=#282828][font=helvetica, arial, verdana, tahoma, sans-serif]

[background=rgb(250, 251, 252)]and this best way to shrink a navigation mesh to account for npc radius[/background]

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Is there any solutions?

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