Release 1.6.0 · recastnavigation/recastnavigation

This version includes a number of bug fixes and improvements from the past few years and maintains backwards compatibility with 1.x versions.

CMake build support
Unit testing with Catch2 (#147)
Support for AABB and OBB obstacles in dtTileCache (#215, #278)
dtTileCache supports timesliced updates (#203)
Support for custom assertion functions (#250)
Variant of findNearestPoly that exposes distance and isOverPoly (#448)
dtNavMeshQuery::getPathFromDijkstraSearch gets a path from the explored nodes in a navmesh search (#211)
A version of dtPolyQuery::queryPolygon that operates on batches of polygons rather than just 128 (#175) (Fixes #107)
rcNew/rcDelete to match rcAlloc/rcFree (#324)
Better error reporting and input sanitization (#179, #303)
Better debug draw (#253, #254, #255, #256)
Improved docstrings, documentation
(RecastDemo) Load/Save navmesh data (#258)

Improved robustness, speed and accuracy of navmesh point queries (#205, #208, #228, #231, #364, #381, #560)
Incorrect rasterization at tile borders (#476)
Off-mesh links in tiles were sometimes added twice (#202)
Potential heap corruption when collecting region layers (#214)
findPath returns DT_OUT_OF_NODES appropriately (#222)
Spans are filtered if there is just enough height (#626)
Increased epsilon in detour common segment polygon intersection test (#612)
Array overrun in removeVertex in DetourTileCacheBuilder (#601)
Potential rounding error computing bounding box size in dtNavMesh::connectExtLinks (#428)
An indexing error in updating agents in DetourCrowd (#450)
Allocation perf issues in rcVectorBase (#467)
Dead website links in comments
RecastDemo bugs (#180, #184, #186, #187, #200)
Uninitialized class member values, small memory leaks, rule-of-three violations, other minor issues

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