Recently I've became interested in implementing steering behaviours for my game. For the most part, they have been relatively trivial to implement, and when I get stuck there's always a surplus of resources available online.
Surprisingly, there's one which I cannot seem to find any resources on: Unaligned collision avoidance. On Craig Reynolds site, he provides a description:
Collision avoidance is obtained for a vehicle by considering each of the other vehicles, and determining (based on current velocities) when and where the two will make their nearest approach. A potential for collision exists if that nearest approach …