diff --git a/.bazelrc b/.bazelrc
index 8a4a828..c9ea24c 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -31,11 +31,24 @@
 # <https://gamma.cs.unc.edu/RVO2/>
 #
 
-build --enable_platform_specific_config=true
 build --force_pic=true
+build --incompatible_strict_action_env=true
 build --legacy_external_runfiles=false
+build --remote_upload_local_results=false
+build --sandbox_default_allow_network=false
 
 build:macos --apple_generate_dsym=true
+build:macos --apple_crosstool_top=@local_config_apple_cc//:toolchain
 build:macos --apple_platform_type=macos
+build:macos --crosstool_top=@local_config_apple_cc//:toolchain
+build:macos --host_crosstool_top=@local_config_apple_cc//:toolchain
+
+common --enable_platform_specific_config=true
+common --heap_dump_on_oom=true
+
+startup --host_jvm_args=-DBAZEL_TRACK_SOURCE_DIRECTORIES=1
+
+test --incompatible_exclusive_test_sandboxed=true
+test --test_verbose_timeout_warnings=true
 
 try-import %workspace%/.user.bazelrc
diff --git a/.buildifier.json b/.buildifier.json
new file mode 100644
index 0000000..fec67e6
--- /dev/null
+++ b/.buildifier.json
@@ -0,0 +1,8 @@
+{
+  "type": "auto",
+  "mode": "fix",
+  "lint": "fix",
+  "warningsList": [
+    "all"
+  ]
+}
diff --git a/.buildifier.json.license b/.buildifier.json.license
new file mode 100644
index 0000000..3669a80
--- /dev/null
+++ b/.buildifier.json.license
@@ -0,0 +1,30 @@
+.buildifier.json
+RVO2 Library
+
+SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    https://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+Please send all bug reports to <geom@cs.unc.edu>.
+
+The authors may be contacted via:
+
+Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+Dept. of Computer Science
+201 S. Columbia St.
+Frederick P. Brooks, Jr. Computer Science Bldg.
+Chapel Hill, N.C. 27599-3175
+United States of America
+
+<https://gamma.cs.unc.edu/RVO2/>
diff --git a/.gitattributes b/.gitattributes
index c79c3ee..3c2cc70 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -43,6 +43,7 @@
 *                    text=auto
 
 *.bazel              text diff=python linguist-language=starlark whitespace-4
+*.bzlmod             text diff=python linguist-language=starlark whitespace-4
 *.cc                 text diff=cpp linguist-language=c++ whitespace-2
 *.cff                text linguist-documentation whitespace-2
 *.cfg                text whitespace-2
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1fae5bd..f0dfdae 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -66,7 +66,7 @@ jobs:
       - name: checkout
         uses: actions/checkout@v3
       - name: build test package
-        run: bazel test --flaky_test_attempts=3 ...
+        run: bazel test --enable_bzlmod=0 --flaky_test_attempts=3 ...
         shell: bash
 
   bazel_macos:
@@ -80,6 +80,8 @@ jobs:
           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 \
@@ -101,7 +103,7 @@ jobs:
           HOMEBREW_NO_INSTALL_CLEANUP: 1
         shell: zsh -efuo pipefail {0}
       - name: build test package
-        run: bazel test --flaky_test_attempts=3 ...
+        run: bazel test --enable_bzlmod=0 --flaky_test_attempts=3 ...
         shell: zsh -efuo pipefail {0}
 
   bazel_ubuntu:
@@ -140,7 +142,107 @@ jobs:
       - name: checkout
         uses: actions/checkout@v3
       - name: build test package
-        run: bazel test --flaky_test_attempts=3 ...
+        run: bazel test --enable_bzlmod=0 --flaky_test_attempts=3 ...
+        shell: bash
+
+  bzlmod_arch:
+    name: bzlmod arch latest
+    runs-on: ubuntu-22.04
+    container: archlinux:latest
+    steps:
+      - name: setup
+        run: |
+          pacman --needed --noconfirm --noprogressbar -S -u -y \
+            bazel \
+            ca-certificates \
+            gcc \
+            git \
+            python \
+            which
+          rm -rf \
+            /var/cache/pacman/pkg/* \
+            /var/lib/pacman/sync/*
+        shell: bash
+      - name: checkout
+        uses: actions/checkout@v3
+      - name: build test package
+        run: bazel test --enable_bzlmod=1 --flaky_test_attempts=3 ...
+        shell: bash
+
+  bzlmod_macos:
+    name: bzlmod macos latest
+    runs-on: macos-latest
+    steps:
+      - name: checkout
+        uses: actions/checkout@v3
+      - 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 upgrade -f -q
+          brew bundle install -q --no-lock
+          brew cleanup -q -s
+          rm -rf $(brew --cache)
+        env:
+          HOMEBREW_NO_ANALYTICS: 1
+          HOMEBREW_NO_AUTO_UPDATE: 1
+          HOMEBREW_NO_INSTALL_CLEANUP: 1
+        shell: zsh -efuo pipefail {0}
+      - name: build test package
+        run: bazel test --enable_bzlmod=1 --flaky_test_attempts=3 ...
+        shell: zsh -efuo pipefail {0}
+
+  bzlmod_ubuntu:
+    name: bzlmod ubuntu 22.04
+    runs-on: ubuntu-22.04
+    container: ubuntu:latest
+    steps:
+      - name: setup
+        run: |
+          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 \
+            upgrade
+          apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 \
+              --no-install-recommends install \
+            ca-certificates \
+            g++ \
+            git \
+            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' \
+            > /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)
+          apt-get -qq -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 \
+              --no-install-recommends install \
+            bazel
+          apt-get -qq -o Dpkg::Use-Pty=0 autoremove
+          rm -rf /var/lib/apt/lists/*
+        env:
+          DEBIAN_FRONTEND: noninteractive
+        shell: bash
+      - name: checkout
+        uses: actions/checkout@v3
+      - name: build test package
+        run: bazel test --enable_bzlmod=1 --flaky_test_attempts=3 ...
         shell: bash
 
   cmake_alpine:
@@ -290,6 +392,8 @@ jobs:
           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 \
diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index dddec1b..e90cbe1 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -49,13 +49,13 @@ jobs:
     name: analyze
     runs-on: ubuntu-22.04
     steps:
-    - name: checkout
-      uses: actions/checkout@v3
-    - name: initialize codeql
-      uses: github/codeql-action/init@v2
-      with:
-        languages: cpp
-    - name: autobuild
-      uses: github/codeql-action/autobuild@v2
-    - name: perform codeql analysis
-      uses: github/codeql-action/analyze@v2
+      - name: checkout
+        uses: actions/checkout@v3
+      - name: initialize codeql
+        uses: github/codeql-action/init@v2
+        with:
+          languages: cpp
+      - name: autobuild
+        uses: github/codeql-action/autobuild@v2
+      - name: perform codeql analysis
+        uses: github/codeql-action/analyze@v2
diff --git a/.yamllint.yaml b/.yamllint.yaml
new file mode 100644
index 0000000..b94204f
--- /dev/null
+++ b/.yamllint.yaml
@@ -0,0 +1,40 @@
+#
+# .yamllint.yaml
+# AVO2 Library
+#
+# SPDX-FileCopyrightText: 2010 University of North Carolina at Chapel Hill
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Please send all bug reports to <geom@cs.unc.edu>.
+#
+# The authors may be contacted via:
+#
+# Jur van den Berg, Jamie Snape, Stephen J. Guy, and Dinesh Manocha
+# Dept. of Computer Science
+# 201 S. Columbia St.
+# Frederick P. Brooks, Jr. Computer Science Bldg.
+# Chapel Hill, N.C. 27599-3175
+# United States of America
+#
+# <https://gamma.cs.unc.edu/AVO/>
+#
+
+---
+extends: default
+
+rules:
+  line-length:
+    max: 80
+    level: warning
diff --git a/MODULE.bazel b/MODULE.bazel
new file mode 100644
index 0000000..c46130e
--- /dev/null
+++ b/MODULE.bazel
@@ -0,0 +1,56 @@
+# -*- mode: bazel; -*-
+# vi: set ft=bazel:
+
+#
+# WORKSPACE.bazel
+# RVO2 Library
+#
+# SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Please send all bug reports to <geom@cs.unc.edu>.
+#
+# The authors may be contacted via:
+#
+# Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+# Dept. of Computer Science
+# 201 S. Columbia St.
+# Frederick P. Brooks, Jr. Computer Science Bldg.
+# Chapel Hill, N.C. 27599-3175
+# United States of America
+#
+# <https://gamma.cs.unc.edu/RVO2/>
+#
+
+module(
+    name = "rvo",
+    version = "2.0.3",
+)
+
+bazel_dep(
+    name = "apple_support",
+    version = "1.6.0",
+    repo_name = "build_bazel_apple_support"
+)
+
+apple_cc_configure = use_extension(
+    "@build_bazel_apple_support//crosstool:setup.bzl",
+    "apple_cc_configure_extension",
+)
+use_repo(apple_cc_configure, "local_config_apple_cc")
+
+bazel_dep(name = "rules_cc", version = "0.0.6")
+bazel_dep(name = "rules_license", version = "0.0.4")
+bazel_dep(name = "rules_pkg", version = "0.9.1", dev_dependency = True)
diff --git a/WORKSPACE.bazel b/WORKSPACE.bazel
index a0eea37..36d3b42 100644
--- a/WORKSPACE.bazel
+++ b/WORKSPACE.bazel
@@ -34,23 +34,25 @@
 # <https://gamma.cs.unc.edu/RVO2/>
 #
 
-workspace(name = "RVO")
+workspace(name = "rvo")
 
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 http_archive(
-    name = "bazel_skylib",
-    sha256 = "f7be3474d42aae265405a592bb7da8e171919d74c16f082a5457840f06054728",
-    urls = [
-        "https://mirror.bazel.build/github.com/bazelbuild/bazel-skylib/releases/download/1.2.1/bazel-skylib-1.2.1.tar.gz",
-        "https://github.com/bazelbuild/bazel-skylib/releases/download/1.2.1/bazel-skylib-1.2.1.tar.gz",
-    ],
+    name = "build_bazel_apple_support",
+    sha256 = "9f7bb62c3ae889e0eae8c18458fd8764e2e537687d9a1d85885d6af980e4fc31",
+    urls = ["https://github.com/bazelbuild/apple_support/releases/download/1.6.0/apple_support.1.6.0.tar.gz"],
 )
 
+load("@build_bazel_apple_support//lib:repositories.bzl", "apple_support_dependencies")
+
+apple_support_dependencies()
+
 http_archive(
     name = "rules_cc",
-    sha256 = "58bff40957ace85c2de21ebfc72e53ed3a0d33af8cc20abd0ceec55c63be7de2",
-    urls = ["https://github.com/bazelbuild/rules_cc/releases/download/0.0.2/rules_cc-0.0.2.tar.gz"],
+    sha256 = "3d9e271e2876ba42e114c9b9bc51454e379cbf0ec9ef9d40e2ae4cec61a31b40",
+    strip_prefix = "rules_cc-0.0.6",
+    urls = ["https://github.com/bazelbuild/rules_cc/releases/download/0.0.6/rules_cc-0.0.6.tar.gz"],
 )
 
 load("@rules_cc//cc:repositories.bzl", "rules_cc_dependencies", "rules_cc_toolchains")
@@ -59,28 +61,21 @@ rules_cc_dependencies()
 
 rules_cc_toolchains()
 
-http_archive(
-    name = "rules_python",
-    sha256 = "c03246c11efd49266e8e41e12931090b613e12a59e6f55ba2efd29a7cb8b4258",
-    strip_prefix = "rules_python-0.11.0",
-    urls = ["https://github.com/bazelbuild/rules_python/archive/refs/tags/0.11.0.tar.gz"],
-)
-
 http_archive(
     name = "rules_license",
-    sha256 = "00ccc0df21312c127ac4b12880ab0f9a26c1cff99442dc6c5a331750360de3c3",
+    sha256 = "6157e1e68378532d0241ecd15d3c45f6e5cfd98fc10846045509fb2a7cc9e381",
     urls = [
-        "https://mirror.bazel.build/github.com/bazelbuild/rules_license/releases/download/0.0.3/rules_license-0.0.3.tar.gz",
-        "https://github.com/bazelbuild/rules_license/releases/download/0.0.3/rules_license-0.0.3.tar.gz",
+        "https://mirror.bazel.build/github.com/bazelbuild/rules_license/releases/download/0.0.4/rules_license-0.0.4.tar.gz",
+        "https://github.com/bazelbuild/rules_license/releases/download/0.0.4/rules_license-0.0.4.tar.gz",
     ],
 )
 
 http_archive(
     name = "rules_pkg",
-    sha256 = "8a298e832762eda1830597d64fe7db58178aa84cd5926d76d5b744d6558941c2",
+    sha256 = "8f9ee2dc10c1ae514ee599a8b42ed99fa262b757058f65ad3c384289ff70c4b8",
     urls = [
-        "https://mirror.bazel.build/github.com/bazelbuild/rules_pkg/releases/download/0.7.0/rules_pkg-0.7.0.tar.gz",
-        "https://github.com/bazelbuild/rules_pkg/releases/download/0.7.0/rules_pkg-0.7.0.tar.gz",
+        "https://mirror.bazel.build/github.com/bazelbuild/rules_pkg/releases/download/0.9.1/rules_pkg-0.9.1.tar.gz",
+        "https://github.com/bazelbuild/rules_pkg/releases/download/0.9.1/rules_pkg-0.9.1.tar.gz",
     ],
 )
 
diff --git a/WORKSPACE.bzlmod b/WORKSPACE.bzlmod
new file mode 100644
index 0000000..c629c3b
--- /dev/null
+++ b/WORKSPACE.bzlmod
@@ -0,0 +1,35 @@
+# -*- mode: bazel; -*-
+# vi: set ft=bazel:
+
+#
+# WORKSPACE.bzlmod
+# RVO2 Library
+#
+# SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Please send all bug reports to <geom@cs.unc.edu>.
+#
+# The authors may be contacted via:
+#
+# Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+# Dept. of Computer Science
+# 201 S. Columbia St.
+# Frederick P. Brooks, Jr. Computer Science Bldg.
+# Chapel Hill, N.C. 27599-3175
+# United States of America
+#
+# <https://gamma.cs.unc.edu/RVO2/>
+#
diff --git a/cmake/modules/CheckCXXLinkerFlag.cmake b/cmake/modules/CheckCXXLinkerFlag.cmake
index a018ae4..6a9cbef 100644
--- a/cmake/modules/CheckCXXLinkerFlag.cmake
+++ b/cmake/modules/CheckCXXLinkerFlag.cmake
@@ -70,9 +70,9 @@ include(CMakeCheckCompilerFlagCommonPatterns)
 # cmake-lint: disable=C0111
 function(check_cxx_linker_flag _FLAG _VAR)
   if(MSVC)
-    _check_cxx_linker_flag(/WX HRVO_LINKER_SUPPORTS_WX)
+    _check_cxx_linker_flag(/WX RVO_LINKER_SUPPORTS_WX)
 
-    if(HRVO_LINKER_SUPPORTS_WX)
+    if(RVO_LINKER_SUPPORTS_WX)
       set(_FATAL_WARNINGS_FLAG /WX)
     else()
       set(_FATAL_WARNINGS_FLAG)