diff --git a/.circleci/config.yml b/.circleci/config.yml
index 79995ac..dfb8178 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -47,21 +47,11 @@ jobs:
               || (sleep 15; apt-get -qq -o APT::Acquire::Retries=4 update)
             sudo apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 --no-install-recommends install \
               ca-certificates \
+              cmake \
               g++ \
               git \
-              gnupg \
               make \
-              pkg-config \
-              wget
-            wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null \
-              | gpg --dearmor - \
-              | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
-            echo 'deb [arch=arm64 signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' \
-              | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
-            sudo apt-get -qq -o APT::Acquire::Retries=4 update \
-              || (sleep 15; apt-get -qq -o APT::Acquire::Retries=4 update)
-            sudo apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 --no-install-recommends install \
-              cmake
+              pkgconf
             sudo apt-get -qq -o Dpkg::Use-Pty=0 autoremove
             sudo rm -rf /var/lib/apt/lists/*
           environment:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 504d0e2..70c0ab7 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -47,7 +47,7 @@ on:  # yamllint disable-line rule:truthy
 jobs:
   bazel_arch:
     name: bazel arch latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: archlinux:latest
     steps:
       - name: setup
@@ -70,29 +70,14 @@ jobs:
         shell: bash
 
   bazel_macos:
-    name: bazel macos latest
-    runs-on: macos-latest
+    name: bazel macos 14
+    runs-on: macos-14
     steps:
       - name: checkout
         uses: actions/checkout@v4
       - name: 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 bundle install -q --no-lock
           brew cleanup -q -s
@@ -107,8 +92,8 @@ 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: setup
@@ -125,9 +110,9 @@ jobs:
             gnupg \
             python-is-python3 \
             wget
-          wget -qO - https://bazel.build/bazel-release.pub.gpg 2>/dev/null | 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' \
+          wget -qO - https://bazel.build/bazel-release.pub.gpg 2>/dev/null \
+            | gpg --dearmor - > /usr/share/keyrings/bazel-archive-keyring.gpg
+          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)
@@ -147,7 +132,7 @@ jobs:
 
   bzlmod_arch:
     name: bzlmod arch latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: archlinux:latest
     steps:
       - name: setup
@@ -170,29 +155,14 @@ jobs:
         shell: bash
 
   bzlmod_macos:
-    name: bzlmod macos latest
-    runs-on: macos-latest
+    name: bzlmod macos 14
+    runs-on: macos-14
     steps:
       - name: checkout
         uses: actions/checkout@v4
       - name: 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 bundle install -q --no-lock
           brew cleanup -q -s
@@ -207,8 +177,8 @@ jobs:
         shell: zsh -efuo pipefail {0}
 
   bzlmod_ubuntu:
-    name: bzlmod ubuntu 22.04
-    runs-on: ubuntu-22.04
+    name: bzlmod ubuntu latest
+    runs-on: ubuntu-latest
     container: ubuntu:latest
     steps:
       - name: setup
@@ -225,9 +195,9 @@ jobs:
             gnupg \
             python-is-python3 \
             wget
-          wget -qO - https://bazel.build/bazel-release.pub.gpg 2>/dev/null | 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' \
+          wget -qO - https://bazel.build/bazel-release.pub.gpg 2>/dev/null \
+            | gpg --dearmor - > /usr/share/keyrings/bazel-archive-keyring.gpg
+          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)
@@ -246,9 +216,9 @@ jobs:
         shell: bash
 
   cmake_alpine:
-    name: cmake alpine 3
-    runs-on: ubuntu-22.04
-    container: alpine:3
+    name: cmake alpine latest
+    runs-on: ubuntu-latest
+    container: alpine:latest
     steps:
       - name: setup
         run: |
@@ -289,7 +259,7 @@ jobs:
 
   cmake_arch:
     name: cmake arch latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: archlinux:latest
     steps:
       - name: setup
@@ -333,7 +303,7 @@ jobs:
 
   cmake_fedora:
     name: cmake fedora latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: fedora:latest
     steps:
       - name: setup
@@ -379,29 +349,14 @@ jobs:
         shell: bash
 
   cmake_macos:
-    name: cmake macos latest
-    runs-on: macos-latest
+    name: cmake macos 14
+    runs-on: macos-14
     steps:
       - name: checkout
         uses: actions/checkout@v4
       - name: 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 bundle install -q --no-lock
           brew cleanup -q -s
@@ -435,7 +390,7 @@ jobs:
 
   cmake_rockylinux:
     name: cmake rockylinux 9
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container: rockylinux:9
     steps:
       - name: setup
@@ -483,9 +438,9 @@ jobs:
         shell: bash
 
   cmake_ubuntu:
-    name: cmake ubuntu 22.04
-    runs-on: ubuntu-22.04
-    container: ubuntu:22.04
+    name: cmake ubuntu latest
+    runs-on: ubuntu-latest
+    container: ubuntu:latest
     steps:
       - name: setup
         run: |
@@ -496,26 +451,15 @@ jobs:
           apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 \
               --no-install-recommends install \
             ca-certificates \
+            cmake \
             doxygen \
-            dpkg \
             dpkg-dev \
             file \
             g++ \
             git \
-            gnupg \
             graphviz \
             make \
-            pkg-config \
-            wget
-          wget -qO- https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null \
-            | 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 -qq -o APT::Acquire::Retries=4 update \
-            || (sleep 15; apt-get -qq -o APT::Acquire::Retries=4 update)
-          apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 \
-              --no-install-recommends install \
-            cmake
+            pkgconf
           apt-get -qq -o Dpkg::Use-Pty=0 autoremove
           rm -rf /var/lib/apt/lists/*
         env:
diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index 9fb69bf..147d749 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 94137c2..5c46b62 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(RVO3D
   VERSION 1.1.0
   DESCRIPTION "Optimal Reciprocal Collision Avoidance in Three Dimensions"
+  HOMEPAGE_URL https://gamma.cs.unc.edu/RVO2/
   LANGUAGES CXX)
 
 list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
@@ -67,7 +68,6 @@ set(RVO3D_LIBRARY_DIR ${CMAKE_INSTALL_LIBDIR})
 set(RVO3D_LIBRARY RVO3D)
 
 set(RVO3D_NAME "RVO2-3D Library")
-set(RVO3D_HOMEPAGE_URL https://gamma.cs.unc.edu/RVO2/)
 
 set(CMAKE_CXX_STANDARD 98)
 set(CMAKE_CXX_STANDARD_REQUIRED OFF)
@@ -329,18 +329,18 @@ set(CPACK_SOURCE_STRIP_FILES ON)
 
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
 set(CPACK_DEBIAN_PACKAGE_DEPENDS)
-set(CPACK_DEBIAN_PACKAGE_HOMEPAGE ${RVO3D_HOMEPAGE_URL})
+set(CPACK_DEBIAN_PACKAGE_HOMEPAGE ${PROJECT_HOMEPAGE_URL})
 set(CPACK_DEBIAN_PACKAGE_SECTION contrib/devel)
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 
 set(CPACK_FREEBSD_PACKAGE_DEPS)
 set(CPACK_FREEBSD_PACKAGE_LICENSE APACHE20)
-set(CPACK_FREEBSD_PACKAGE_WWW ${RVO3D_HOMEPAGE_URL})
+set(CPACK_FREEBSD_PACKAGE_WWW ${PROJECT_HOMEPAGE_URL})
 
 set(CPACK_RPM_FILE_NAME RPM-DEFAULT)
 set(CPACK_RPM_PACKAGE_AUTOREQPROV ON)
 set(CPACK_RPM_PACKAGE_LICENSE "ASL 2.0")
 set(CPACK_RPM_PACKAGE_REQUIRES)
-set(CPACK_RPM_PACKAGE_URL ${RVO3D_HOMEPAGE_URL})
+set(CPACK_RPM_PACKAGE_URL ${PROJECT_HOMEPAGE_URL})
 
 include(CPack)
diff --git a/Dockerfile b/Dockerfile
index f679442..44ed62e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,3 +1,5 @@
+# syntax=docker.io/docker/dockerfile:1
+
 #
 # Dockerfile
 # RVO2-3D Library
@@ -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 in Three Dimensions"
 LABEL org.opencontainers.image.licenses="Apache-2.0"
 LABEL org.opencontainers.image.source="https://github.com/snape/RVO2-3D/"
@@ -50,22 +52,23 @@ RUN export DEBIAN_FRONTEND=noninteractive \
     ca-certificates \
     clang \
     clang-tidy \
+    cmake \
     cmake-format \
     cppcheck \
     cpplint \
     dirmngr \
     doxygen \
-    dpkg \
     dpkg-dev \
     file \
     g++ \
     gdb \
     git \
-    gnupg \
     graphviz \
     iwyu \
+    jsonlint \
     lldb \
     make \
+    markdownlint \
     nano \
     netbase \
     ninja-build \
@@ -74,25 +77,9 @@ RUN export DEBIAN_FRONTEND=noninteractive \
     python3 \
     reuse \
     strace \
-    unzip \
     valgrind \
-    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 \
   && rm -rf /var/lib/apt/lists/* \
   && npm install -g \
-    @bazel/buildifier \
-    jsonlint \
-    markdownlint-cli
+    @bazel/bazelisk \
+    @bazel/buildifier
diff --git a/RVO3D.pc.in b/RVO3D.pc.in
index c1a1508..92aa570 100644
--- a/RVO3D.pc.in
+++ b/RVO3D.pc.in
@@ -38,7 +38,7 @@ includedir=${prefix}/@RVO3D_INCLUDE_DIR@
 
 Name: @RVO3D_NAME@
 Description: @PROJECT_DESCRIPTION@
-URL: @RVO3D_HOMEPAGE_URL@
+URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
 Libs: -L${libdir} -l@RVO3D_LIBRARY@
 Cflags: -I${includedir}