Avoidance steering behavior involves avoiding collisions between moving agents, objects, and other moving agents. The collision avoidance calculated from ForceToAvoidAgents
creates a steering force in the tangent direction of a potential agent as two agents move closer to one another. Predictive movements are used to determine whether two agents will collide within a given amount of time.
Obstacle avoidance, on the other hand, approximates sandbox objects using spheres and uses the agent's predictive movement to create a steering force tangent for the potential collision.