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Vehicle AI

I am looking for some tutorial videos or pseudocodes for implementing Car AI for racing games,i have seen Peter L Newton’s Car AI,its just a work in progress and has some issues,though i dont want to use Navmesh,as it is only 2D,i want to use waypoints.

IIRC, Peter has a waypoint AI tutorial on YT, you could probably adapt it to a vehicle.

zoombapup has a number of AI tutorials on YT as well covering the waypoints subject.