I'm working on an RTS game, and I'm using navmeshes for unit pathfinding. I do know how to find a general path within a navmesh, but how do you determine if the unit have enough space to turn? I have units of different shapes (mostly rectangles with different dimensions), and with different turn radii. Additionally some of units can turn in place, and some can move in reverse. So, how to find a path which unit can follow, considering that it can not rotate easily?