Or HRDC for short. That is my homage to obstacle avoidance scene. The method is combining the good stuff from HRVO with easy of implementation of DC.
I got my implementation of directive circle working better and in many cases it works as nicely as my geometric implementation of HRVOs. I like how it makes it easy to combine different obstacles, and it looks like implementing static segment obstacles will be pretty easy.
DCs are faster to generate so some form of look-head planning could be feasible (it could be turned off as LOD).