# 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/)

## [4.1.1] - 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"

## [3.3.1] - 2023-08-31

- Added limited query fully account different agent sizes

- Changed nav mesh remaining distance to return float max value until it reaches few remaining nodes. It was changed, as it was never accurate value which was resulting other issues

- Fixed lower push forces on collision with sonar horizon

- Fixed authoring help links

## [3.3.0] - 2023-08-20

- Added collider settings

- Added spatial partitioning cylinder and circle query with limited neighbour count

- Added map mapping to icons for a reduced aliasing

- Changed project settings from scene based to project wide

- Changed separation to use current shape of agent

- Changed com.unity.entities version to 1.0.14

## [3.2.0] - 2023-07-16

- Added NavMeshSettings singleton

- Added settings component mirroring in the project settings under new tab Agents Navigation

- Added new component Agent Smart Stop from Zerg Samples

- Added default configurations for AgentBody/AgentSteering/AgentCollider/AgentShape/AgentSeparation/NavMeshPath

- Added EntityNodes to AgentNavMeshAuthoring

- Added warning for agent authoring in case no shape is added

- Added error then NavMeshQuerySystem is attempted to be created in edit mode

- Changed velocity to account collision with agents and navmesh

- Changed SonarAvoidance radius scale with velocity

- Changed SonarAvoidance to be float2 now. First value represents angle of velocity obstacle and second one maximum allowed angle

- Changed AgentCylindreShapeAuthoring icon (I hope you will enjoy new one)

- Fixed SonarAvoidance Walls no longer produces extremely small paths

- Fixed hybrid mode have correct LocalTransform scale 1

- Fixed spatial partitioning to use same same query to avoid inconsistencies

- Fixed component UI updating previous frames values

## [3.1.6] - 2023-04-11

- Changed seperation algorithm

- Added weight property to seperation

- Fixed NavMesh Area Mask correctly work with no sequential layers