v0.4.0-preview.1

First public preview. The API can still change between previews. The only runtime dependency is RecursiveAI.OneMath.

Added

• Grids: square (4- and 8-connected), hex and 3D voxel grids; A*, JPS and JPS+ (with improved-pruning variants), Theta*, Lazy Theta*, HPA* over chunks, LPA* and D* Lite replanning, flow fields, area costs, agent clearance for several sizes, incremental tile updates, iteration-budgeted (sliced) searches. Costs are exact for the metric used (octile, hex distance, 3D octile).
• Graphs: weighted and point graphs, A* and Dijkstra, bidirectional search, ALT landmarks.
• Navigation mesh: one tiled format (tiles with a double origin and float32 tile-local coordinates, multi-layer tiles, per-polygon height detail, areas, flags, off-mesh link slots, 128-bit build fingerprint per tile) with versioned, byte-exact serialization, streaming of tiles in and out, and several agent sizes (NavWorld). Layout documented in docs/navmesh-format.md; the first public version of the format is version 2.
• Builders: an exact 2D builder (outlines and tile maps; exact predicates, constrained Delaunay, convex merge) and a Recast-class 3D builder (triangle soup, glTF, height fields and voxel chunks entering at the span stage; watershed, monotone and layer regions; contours, polygons, height detail), both behind NavMesh.Build2D and NavMesh.Build.
• Queries: path (polygon-node or edge-crossing model, filters and area costs; sync and sliced), string pulling, raycast, nearest polygon and point, random point, distance to wall, polygons in a circle or shape, off-mesh links.
• Crowds: path corridors that follow and repair paths, path following, navmesh-aware ORCA (closed-form truncated-cone constraints), separation, priorities, fixed-step Crowd.Step, byte-exact crowd snapshot and restore.
• Deterministic-host hooks: snapshot and restore of crowd, grid, search and dynamic-mesh state; iteration budgets for sliced queries and rebuilds; debug geometry as plain data.
• Determinism: results are bit-identical across x64, arm64 and WASM, scalar and SIMD, and any thread count; world coordinates are double, exact within ±2^21, and anything beyond throws ArgumentOutOfRangeException.
• NativeAOT, trimming and browser-WASM smoke apps; the package is trim- and AOT-compatible.

Experimental

These types carry [Experimental("ONEPATH0002")] and may change or move in any preview:

• the run-time tile cache: TileCache, TileObstacle, ObstacleShape, Mesh3DPipeline.BuildSoupCached, BuildChunkCached, BuildHeightfieldCached and Mesh3DPipeline.Obstacles. A tile rebuild still costs several times what a comparable native tile cache spends (see the speed table in the README).

Known limits

• Peak memory is higher than the native references'.
• Path queries on one large single-tile city mesh ran 1.6-1.8x slower than Detour in the last locked run (a later change to the mesh contours is not yet re-measured), and the tile cache is 4-6x slower than DetourTileCache; the README table lists the rows.