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I’ve always wanted to find a blog post somewhere about SC2-style swarm pathfinding. Dijkstra part is simple and there are many resources about it, whats hard is avoidance - units shouldn’t walk through each other. Achieving that smooth and correct wave-like motion of zerglings isn’t easy - I’ve tried but the results were ugly.

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https://www.gamedev.net/forums/topic/597457-pathfinding-in-a... discusses some of the stuff StarCraft 2 uses, http://www.gameaipro.com/ has some stuff including for the other SC2, Supreme Commander 2 ( http://www.gameaipro.com/GameAIPro/GameAIPro_Chapter23_Crowd... ) that solves similar issues.

This could be a hard problem as many games fail to solve it. There's also the problem of idle units giving way to the ones on the move and formations and stances and many other stuff. In the end, you get some sort of compromise.

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