RTS Games - Physics & Collision

Hey guys, I am trying to implement a physics/collision system similar to the video below. The blue entities bounce off each other, their position clamped by walls and also able to detect and move up slopes. I’m not sure if this is done with any of ROBLOX’s physics due to the sheer amount of entities needed for an RTS game

How can I learn about the fundamentals of accomplishing that implementation? Thanks in advance!

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the video is a demo for FastFlow | Fast flowfield generation for performant swarm pathfinding - Resources / Community Resources - Developer Forum | Roblox
it doesnt use default roblox physics, from what i remember the X and Z position are done through custom 2d physics and local avoidance so the agents push eachother away, the Y position is sampled through grid height information (using dot product for slopes)
the place in the video should also be uncopylocked so u can look at the source directly: FastFlow Demo | Play on Roblox

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