What is the algorithm for RVO?

Development Programming & Scripting
1

I’m using the RVO system and trying to figure out the fundamental codes（AvoidanceManager）.

GetAvoidanceVelocity_Internal is hard to understand for me:
It seems the ConePlanes are identical, and the weighting calculation in AvoidCones function really beats me.

Any staff could please help me to figure out the algorithm behind it?

2

any one?~~