From bb3d8dc18503640d24a308d22e324b1d035ba8be Mon Sep 17 00:00:00 2001
From: smix8 <52464204+smix8@users.noreply.github.com>
Date: Thu, 15 Feb 2024 07:09:01 +0100
Subject: [PATCH] Mention passing side assumption of RVO avoidance

Mentions passing side assumption of RVO avoidance.
---
 tutorials/navigation/navigation_using_navigationagents.rst | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/tutorials/navigation/navigation_using_navigationagents.rst b/tutorials/navigation/navigation_using_navigationagents.rst
index 16f385413..80f41d47b 100644
--- a/tutorials/navigation/navigation_using_navigationagents.rst
+++ b/tutorials/navigation/navigation_using_navigationagents.rst
@@ -131,6 +131,11 @@ NavigationObstacles can be used to add some environment constrains to the avoida
 
     Avoidance does not affect the pathfinding. It should be seen as an additional option for constantly moving objects that cannot be (re)baked to a navigation mesh efficiently in order to move around them.
 
+.. note::
+
+    RVO avoidance makes implicit assumptions about natural agent behavior. E.g. that agents move on reasonable passing sides that can be assigned when they encounter each other.
+    This means that very clinical avoidance test scenarios will commonly fail. E.g. agents moved directly against each other with perfect opposite velocities will fail because the agents can not get their passing sides assigned.
+
 Using the NavigationAgent ``enable_avoidance`` property is the preferred option
 to toggle avoidance. The following code snippets can be used to
 toggle avoidance on agents, create or delete avoidance callbacks or switch avoidance modes.