OpenSteer

Craig also developed OpenSteer in 2002: OpenSteer: Steering Behaviors for Autonomous Characters https://github.com/meshula/OpenSteer >OpenSteer is a C++ library for constructing steering behaviors for autonomous characters in games and animation. In addition to the library, OpenSteer provides an OpenGL-based application called OpenSteerDemo which demonstrates a variety of steering behaviors. The user can quickly prototype, visualize, annotate and debug new steering behaviors by writing a plug-in for OpenSteerDemo. [...] >OpenSteer was initially developed by Craig Reynolds beginning in 2002 at the Research and Development group of Sony Computer Entertainment America. The OpenSteer authors wish to acknowledge the support of SCEA, SCEI and in particular these executives who had the foresight to release this code as open source for all to use

Note that this one (https://github.com/meshula/OpenSteer) is the “semi official” port of OpenSteer, a library for steering behaviors, which is the generalization of the ideas underlying boids, as described in http://www.red3d.com/cwr/papers/1999/gdc99steer.html