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If anyone curious about some historic examples here is the pathfinding code from the C&C/Red Alert games
>The path algorithm works by following a LOS path to the target. If it collides with an impassable spot, it uses an Edge following routine to get around it. The edge follower moves along the edge in a clockwise or counter clockwise fashion until finding the destination spot. The destination is determined by Find_Path. It is the first passable that can be reached (so it will handle the doughnut case, where there is a passable in the center of an unreachable area).
https://github.com/electronicarts/CnC_Remastered_Collection/...
https://github.com/electronicarts/CnC_Remastered_Collection/...
Well, my personal preference is for Zero-K/Spring, because I actually like micro :
http://zero-k.info/
But BAR/Spring seems like it would fit you better (it's also the closest of them to TA, which is otherwise a bit old these days) :
https://www.beyondallreason.info/
(BAR used to stand for Balanced Annihilation Reloaded, while Zero-K used to be called Complete Annihilation.)