# Changelog

All notable changes to this package will be documented in this file. The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)

## [4.4.4] - 2025-11-13
- Fixed astar entities baking

## [4.4.3] - 2025-11-04

- Re-uploaded again as might been issue with 4.4.2 in asset store

## [4.4.2] - 2025-11-03

- Fixed astar integration

- Fixed AABBTree Spatial component not to throw errors in entity hierarchy

- Fixed AABBTree handle is already removed exception

## [4.4.1] - 2025-10-22

- Fixed destroyed agents in aabb tree not getting removed

## [4.4.0] - 2025-10-22

- Changed collision system no longer to use query capacity and always take all neighbours. I found from many users projects that cases where you would find this optimization useful, would prove too much unstable collision thus rendering it useless.

- Changed default grid hash spatial partitioning with query capacity 0 to take all neighbours instead of falling back to non shape based spatial grid partitioning.

- Added new agents navigation settings called `Spatial Partitioning Mode` that allow switching between different spatial partitioning backends

- Added new spatial partitioning that uses aabb tree. It is nice alternative to default one as it provides more stable search and also makes it quite optimal for using in game code, which is commonly requested feature

- Added new scene in unity scenarios `Unity Physics Locomotion` that shows example of integrating with unity ecs physics package

- Added to spatial partitioning aabb tree new overloads `QueryLine`, `QuerySphere` and `QueryCylinder` that are enurator based instead of generics. This make easier API and closer to SystemAPI.Query

- Fxed EntityBehaviour in some cases droping null reference exception on playmode stop

## [4.3.1] - 2025-10-17

- Fixed compilation errors caused by RegisterUnityEngineComponentType on prior to 1.4.0 ecs version

## [4.3.0] - 2025-10-08

- Fixed for ECS 1.4 RectTransform and Animator errors

- Fixed NavMeshCorners.TryGetCorners properly work with more than 2 navmesh nodes

- Updated zerg samples not to produce warnings on Unity 6

- Increased performance optimization for smart stop

- Added new sample zerg animatron

- Changed NavMeshSteeringSystem to set AgentBody RemainingDistance to heuristic distance instead of max float value

## [4.2.5] - 2025-09-08

- Removed wantsToRecalculatePath logging from astar

## [4.2.4] - 2025-09-01

- Removed accidental leftover of priting pending path in astar

- Added in settings new option `Log Verbose` that for now controlls navmesh not found warrning

## [4.2.3] - 2025-08-19

- Fixed error `Loading from a non-readonly static field`

## [4.2.2] - 2025-08-17

- Fixed regression where agent inspector properties are not shown for default locomotion

- Fixed burst error for AgentGroundingSlopeSystem and AgentGroundingSystem on domain reload

- Added new Scenario sample scene `Physics Grounding`

## [4.2.1] - 2025-08-16

- Fixed regression where imported agents navigation package loads old version

## [4.2.0] - 2025-08-15

- Changed AgentAstarPath grounded option to enum

- Changed NavMeshPath grounded option to enum

- Added new component AgentGrounding that uses unity builtin physics for height correction

- Added to all component new ref based entity data returning as result simplying option changing

## [4.1.1] - 2025-06-21

- Fixed build errors

## [4.1.0] - 2025-06-17

- Added to navmesh `OptimizePath` feature that improves path quality for highly non uniform navmesh surfaces

- Fixed navmesh init to wait for query

- Fixed AgentCollider to work, if it is created disabled

- Changed SonarHorizon to be enabled by default, you can still disable it

- Changed AgentSonarAvoid some angle tooltips to be more clear

- Changed a lot of systems not to run without existing components

- Changed hive stop comment

- Changed not to print `Failed to map agent` in non development builds

## [4.0.15] - 2025-03-10

- Fixed Astar pathing resulting in errors during carving

## [4.0.14] - 2025-03-04

- Fixed TryGetCorners not working

## [4.0.13] - 2025-01-23

- Added root motion locomotion sample

## [4.0.12] - 2025-01-02

- Fixed A* Pathfinding Project 5.3.0 version to work

- Fixed selecting agent in subscene would result in errors

## [4.0.11] - 2025-01-02

- Fixed all warnings in Unity 6 version

## [4.0.10] - 2024-12-25

- Fixed scene Mass Astar Entities

- Fixed subscene navmesh loading resulting in "Failed to map agent position to nav mesh location" for first frame

- Updated to use ecs 1.3.5 version

## [4.0.9] - 2024-11-12

- Added AGENTS_NAVIGATION_FAKE_ASSEMBLY_REFERENCE for faking depedency on ecs/collection assembly reference

- Fixed compatibility with the A* Pathfinding Project package version 5.2.5

- Added AgentAstarPathingAuthoring from A* Pathfinding Project to work with subscenes

## [4.0.8] - 2024-10-06

- Added Hybrid game object and entity connection. As result in dots hierarchy you can select runtime mode and see actualy entity connected to it

- Fixed compatibility with the A* Pathfinding Project package version 5.2.

- Fixed compatibility with the A* Pathfinding Project package version 5.2.6.

## [4.0.7] - 2024-10-05

- Moved gizmos buffer from editor for easier debuging, still works only in editor

- Fixed rare exception: ArgumentException: Radius must be greater than zero

- Fixed rare exception: InvalidOperationException: The ComponentTypeHandle<Pathfinding.ECS.ManagedState>

- Fixed agent editor exception in prefab mode

## [4.0.6] - 2024-07-25

- Changed spatial clear to parallel that improves performance drastically

- Fixed seeking on wide navmesh links

- Changed link detection to use velocity to avoid cases where agent overshots the link start

## [4.0.5] - 2024-07-17

- Added area cost

- Added to AgentNavMeshAuthoring SetAreaCost and GetAreaCost

- Fixed NavMeshCorners.TryGetCorners to correctly handle empty array

- Fixed NavMeshPath.EndLocation properly match destination in all cases

- Changed found path no longer allocates temp memory

- Changed NavMeshPathState.Finished into NavMeshPathState.FinishedFullPath and NavMeshPathState.FinishedPartialPath

## [4.0.4] - 2024-06-11

- Added to AgentNavMeshAuthoring CreateCorners

- Added NavMeshCorners for simplified accessing of path corners

- Added Weight in AgentSeperationAuthoring

- Fixed smart stop gizmos drawing

- Changed agent separation to allow enable/disable

- Changed selected agent navmesh authoring now draws corners

## [4.0.3] - 2024-04-28

- Fixed smart stop baker for give up timer

## [4.0.2] - 2024-04-14

- Fixed to work with A* Pathfind Project 5.0.9

## [4.0.1] - 2024-04-14

- Fixed astar link traversal

## [4.0.0] - 2024-04-13

- Added integration with A* Pathfinding Project! This includes new component `Agent A* Pathing` that uses package global pathing.

- Added off mesh link support

- Added custom link traversal tutorial and scene

- Added Speed property to AgentBody

- Fixed navmesh path no longer being calculated 2x times

- Fixed NavMeshPath.Default to set Grounded to true

## [3.5.2] - 2023-12-14

- Fixed AgentNavMeshPath correctly bake UseWalls in subscene

- Fixed NavMeshQuery to correctly return partial path in case all nodes visited instead of just return then it is out of iterations

## [3.5.1] - 2023-12-12

- Fixed ECS NavMesh cleanup

- Fixed for crowds gizmos field capacity error

## [3.5.0] - 2023-12-02

- Added AgentActionSystemGroup

- Added AgentSpatialSystemGroup

- Added AgentPathingSystemGroup

- Changed NavMesh Constrained into Grounded

- Changed AgentSteering into AgentLocomotion

- Changed AgentTransformSystemGroup into AgentDisplacementSystemGroup

- Changed AgentSteeringSystemGroup into AgentSeekingSystemGroup

- Fixed navigation settings null reference exception

## [3.4.2] - 2023-11-14

- Added Agent.Default

- Fixed navigation layers not working with query capacity 0

## [3.4.1] - 2023-11-10

- Fixed issues with navigation layer setting to nothing

## [3.4.0] - 2023-11-08

- Added path progress in case agents is moved outside agents system group

- Added Layers to Agent/AgentCollider/AgentSeparation/AgentSonarAvoid/AgentReciprocalAvoid

- Added Query Check setting. The maximum number of nearby neighbors will be checked to find closest.

- Added to Smart Stop new behaviour called Give Up Stop.

- Added AgentCollider enable/disable state

- Added Iterations Per Frame for NavMesh

- Added NavMesh Constrained option to control should agent be forced to be on surface

- Removed old 0.65 entities package baking path

- Changed Sonar Time Horizon only include agents that are withing radius. This will improve agent seeking.

- Changed Spatial Partitioning to use parallel jobs

- Changed AgentSystemGroup to be executed before physics

## [3.3.5] - 2023-10-25

- Fixed gizmos drawing for multiple game objects and entities

- Changed ECS gizmos drawing no longer requires to select agent authoring

- Changed GizmosCommandBuffer no longer has parallel version. As this simplifies gizmos logic and did not worked correctly any way

## [3.3.4] - 2023-10-13

- Fixed performance regression with query capacity

- Fixed samples script agent destination missing reference

- Fixed "Leak Detected : Persistent allocates 257 individual allocations" (Made workaround to unity bug that leaks bursted System.OnCreate)

## [3.3.3] - 2023-09-18

- Changed NavMeshQueryStatus.Finished to be obsolete, use FinishedFullPath or FinishedPartialPath. This changes allows distinguish reachable from unreachable paths

- Fixed Regular Update to skip frame with delta zero

- Fixed in docs SonarAvoidance.Set parameters names

- Fixed SonarAvoidance.CopyFrom to also copy angle

- Fixed QueryCylinder using radius for y axis instead of height

- Fixed Query Capacity to more effiently take neighbour agents (Should reduce popping effect with collisions)

## [3.3.2] - 2023-09-01

- Fixed regression from 3.3.1 limited query resulting error "HashMap is full"

Agents Navigation