diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cf2db70..0ce31b3 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -53,7 +53,7 @@ env:
 jobs:
   bazel_arch:
     name: bazel arch latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: archlinux:latest
     steps:
       - name: pre-checkout setup
@@ -76,7 +76,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package
@@ -84,27 +84,12 @@ jobs:
         shell: bash
 
   bazel_macos:
-    name: bazel macos latest
-    runs-on: macos-latest
+    name: bazel macos 14
+    runs-on: macos-14
     steps:
       - name: pre-checkout setup
         run: |
-          rm -f \
-            /usr/local/bin/2to3 \
-            /usr/local/bin/2to3-3.* \
-            /usr/local/bin/go \
-            /usr/local/bin/gofmt \
-            /usr/local/bin/idle3 \
-            /usr/local/bin/idle3.* \
-            /usr/local/bin/pydoc3 \
-            /usr/local/bin/pydoc3.* \
-            /usr/local/bin/python3 \
-            /usr/local/bin/python3.* \
-            /usr/local/bin/python3-config \
-            /usr/local/bin/python3.*-config \
-            /usr/local/lib/libtcl8.*.dylib \
-            /usr/local/lib/libtk8.*.dylib
-          brew update-reset -q
+          brew update -q
           brew upgrade -f -q
           brew unlink -q bazelisk
           brew install -q \
@@ -125,7 +110,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package
@@ -133,8 +118,8 @@ jobs:
         shell: zsh -efuo pipefail {0}
 
   bazel_ubuntu:
-    name: bazel ubuntu 22.04
-    runs-on: ubuntu-22.04
+    name: bazel ubuntu latest
+    runs-on: ubuntu-latest
     container: ubuntu:latest
     steps:
       - name: pre-checkout setup
@@ -150,13 +135,13 @@ jobs:
             g++ \
             git \
             gnupg \
-            libicu70 \
-            liblttng-ust1 \
+            libicu74 \
+            liblttng-ust1t64 \
             python-is-python3 \
             zlib1g
           curl -sS https://bazel.build/bazel-release.pub.gpg | gpg --dearmor - \
             > /usr/share/keyrings/bazel-archive-keyring.gpg
-          echo 'deb [arch=amd64 signed-by=/usr/share/keyrings/bazel-archive-keyring.gpg] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
+          echo 'deb [signed-by=/usr/share/keyrings/bazel-archive-keyring.gpg] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
             > /etc/apt/sources.list.d/bazel.list
           apt-get -qq -o APT::Acquire::Retries=4 update \
             || (sleep 15; apt-get -qq -o APT::Acquire::Retries=4 update)
@@ -171,7 +156,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package
@@ -179,9 +164,9 @@ jobs:
         shell: bash
 
   dotnet_alpine:
-    name: dotnet alpine 3
-    runs-on: ubuntu-22.04
-    container: alpine:3
+    name: dotnet alpine latest
+    runs-on: ubuntu-latest
+    container: alpine:latest
     steps:
       - name: pre-checkout setup
         run: |
@@ -198,7 +183,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
@@ -214,7 +199,7 @@ jobs:
 
   dotnet_arch:
     name: dotnet arch latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: archlinux:latest
     steps:
       - name: pre-checkout setup
@@ -233,7 +218,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
@@ -249,7 +234,7 @@ jobs:
 
   dotnet_fedora:
     name: dotnet fedora latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: fedora:latest
     steps:
       - name: pre-checkout setup
@@ -271,7 +256,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
@@ -286,13 +271,13 @@ jobs:
         shell: bash
 
   dotnet_macos:
-    name: dotnet macos latest
-    runs-on: macos-latest
+    name: dotnet macos 14
+    runs-on: macos-14
     steps:
       - name: checkout
         uses: actions/checkout@v4
       - name: setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
@@ -308,7 +293,7 @@ jobs:
 
   dotnet_rockylinux:
     name: dotnet rockylinux 9
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: rockylinux:9
     steps:
       - name: pre-checkout setup
@@ -330,7 +315,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
@@ -345,9 +330,9 @@ jobs:
         shell: bash
 
   dotnet_ubuntu:
-    name: dotnet ubuntu 22.04
-    runs-on: ubuntu-22.04
-    container: ubuntu:22.04
+    name: dotnet ubuntu latest
+    runs-on: ubuntu-latest
+    container: ubuntu:latest
     steps:
       - name: pre-checkout setup
         run: |
@@ -360,8 +345,8 @@ jobs:
             ca-certificates \
             curl \
             git \
-            libicu70 \
-            liblttng-ust1 \
+            libicu74 \
+            liblttng-ust1t64 \
             zlib1g
           apt-get -qq -o Dpkg::Use-Pty=0 autoremove
           rm -rf /var/lib/apt/lists/*
@@ -371,7 +356,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: post-checkout setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
           source-url: https://nuget.pkg.github.com/snape/index.json
@@ -400,7 +385,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v4
       - name: setup
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           global-json-file: global.json
       - name: build package debug
diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index 05ec243..7728aae 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -47,7 +47,7 @@ on:  # yamllint disable-line rule:truthy
 jobs:
   analyze:
     name: analyze
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     steps:
       - name: checkout
         uses: actions/checkout@v4
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d06a042..f53b798 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,10 +34,11 @@
 # <https://gamma.cs.unc.edu/RVO2/>
 #
 
-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
 project(RVOCS
   VERSION 2.1.0
   DESCRIPTION "Optimal Reciprocal Collision Avoidance for C#"
+  HOMEPAGE_URL https://gamma.cs.unc.edu/RVO2/
   LANGUAGES NONE)
 
 include(CTest)
diff --git a/Dockerfile b/Dockerfile
index d0c0422..2fef9dc 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,3 +1,5 @@
+# syntax=docker.io/docker/dockerfile:1
+
 #
 # Dockerfile
 # RVO2 Library C#
@@ -31,9 +33,9 @@
 # <https://gamma.cs.unc.edu/RVO2/>
 #
 
-FROM ubuntu:22.04
+FROM ubuntu:latest
 LABEL org.opencontainers.image.authors="Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha"
-LABEL org.opencontainers.image.base.name="docker.io/library/ubuntu:22.04"
+LABEL org.opencontainers.image.base.name="docker.io/library/ubuntu:latest"
 LABEL org.opencontainers.image.description="Optimal Reciprocal Collision Avoidance for C#"
 LABEL org.opencontainers.image.licenses="Apache-2.0"
 LABEL org.opencontainers.image.source="https://github.com/snape/RVO2/"
@@ -48,19 +50,17 @@ RUN export DEBIAN_FRONTEND=noninteractive \
   && apt-get update -qq \
   && apt-get install --no-install-recommends -o Dpkg::Use-Pty=0 -qy \
     ca-certificates \
+    cmake \
     cmake-format \
     dirmngr \
-    dotnet6 \
-    dpkg \
+    dotnet-sdk-8.0 \
     dpkg-dev \
     file \
     git \
-    gnupg \
-    libgssapi-krb5-2 \
-    libicu70 \
-    libssl3 \
-    libstdc++6 \
+    jsonlint \
+    libicu74 \
     make \
+    markdownlint \
     mono-complete \
     nano \
     netbase \
@@ -68,24 +68,9 @@ RUN export DEBIAN_FRONTEND=noninteractive \
     npm \
     python3 \
     reuse \
-    unzip \
-    wget \
     yamllint \
-    zlib1g-dev \
-  && wget -qO - https://bazel.build/bazel-release.pub.gpg | gpg --dearmor - \
-    > /usr/share/keyrings/bazel-archive-keyring.gpg \
-  && echo 'deb [arch=amd64 signed-by=/usr/share/keyrings/bazel-archive-keyring.gpg] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
-    > /etc/apt/sources.list.d/bazel.list \
-  && wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc \
-    | gpg --dearmor - > /usr/share/keyrings/kitware-archive-keyring.gpg \
-  && echo 'deb [arch=amd64 signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu jammy main' \
-    > /etc/apt/sources.list.d/kitware.list \
-  && apt-get update -qq \
-  && apt-get install --no-install-recommends -o Dpkg::Use-Pty=0 -qy \
-    bazel \
-    cmake \
+    zlib1g \
   && rm -rf /var/lib/apt/lists/* \
   && npm install -g \
-    @bazel/buildifier \
-    jsonlint \
-    markdownlint-cli
+    @bazel/bazelisk \
+    @bazel/buildifier