Hello again! This is my implementation of the A* algorithm. I’m using it to find the optimal path from one node to another for each ogre.  The ogres will walk that path while avoiding obstacles.  If not path is available, the ogre will simply not move. The poor ogre in the center will never move, since he’s surrounded.  Its a rather quick video, but it should give you a decent idea.

This was written for a Game Programming assignment, so I will release the source code when I’m allowed to.

UPDATE: Here’s some source code!  myGitHub

It requires the OGRE graphics library to run. http://www.ogre3d.org/