Changelog

All notable changes to this package are recorded here. The format follows Keep a Changelog.

[2.0.1] - 2026-10-05

Wrapper-only; plugins unchanged (ABI 206).

Fixed

• IsReachable, MarchlineAgent.CanReach and TrySnapToReachable from a start inside something now give the planner’s answer. The core steps an agent out of a blocked cell to the first free cell up to six cells away and plans from there; the wrapper only looked a cell and a half, so an agent a prop appeared on (or a point deep in a counter) was “unreachable” while TryFindPath, PathLength and MoveTo found the route. The wrapper now runs the core’s own search.
• IsReachable and CanReach with a point outside the grid said no, while MoveTo and TryFindPath take such a point as the nearest cell on the grid’s edge and go there. They now do the same, for the start and for the target.

[2.0.0] - 2026-10-05

Ask before you walk, in real units. Agent control and reachability move into the native core (ABI 206), and the public API changes from cells and ticks to world units and seconds. Replace the whole package, plugins included. Replays recorded by 1.x do not open (replay format 6); saves from 1.x load and continue under the 2.0 rules. See “Upgrading from 1.x” in the manual.

Added

• MarchlineAgent.speed, in world units per second (0 = the preset default). Assign it any time, in the inspector or from code: the agent keeps its order, its place in a formation and its native id, and carries on at the new pace.
• MarchlineAgent.Stop(): drop the order and stand, Idle.
• NavWorld.TryFindPath(from, to, points, out length) and NavWorld.PathLength(from, to): the route the planner would take and its length in world units, without ordering anybody. MarchlineAgent.PathLengthTo(position) and RemainingDistance() ask for one agent. In both update modes.
• Agent control by handle for bulk agents: NavWorld.SetSpeed(handle, speed), Warp(handle, position), Stop(handle).
• NavMeshAgentCompat.speed.
• Core and C ABI (v206): ml_agent_set_speed, ml_agent_stop, ml_agent_warp, ml_agent_link, ml_world_agent_links, ml_world_reachable, ml_world_nearest_reachable, ml_world_find_path; the matching MarchlineWorld methods. The core keeps connectivity labels per floor, updated a sector at a time as cells change, and a graph of the links between them.

Changed

• Units. Speeds are world units per second, link durations seconds, link costs world units. OverrideSpeed, SetSpeed(cellsPerTick), durationTicks, cost, DefaultAgentSpeed and AddBulkAgent(position, cellsPerTick) still compile, marked obsolete, with their old meaning; MarchlineCrowd.speed is now agentSpeed. Values saved in scenes and prefabs convert themselves.
• Preset default speeds are fixed in world units (RTS and TowerDefense 10.5 per second, ColonySim 7.5, Horde 13.5). They were cells per tick and so scaled with cellSize and ticksPerSecond; with 1 m cells at 30 ticks per second nothing changes.
• An order to a goal that cannot be reached reports Unreachable on the next tick, from the connectivity labels, with no planning work (the planner used to search the whole reachable area first). It still retries by itself when the world changes.
• A ground-level goal that can only be reached over links (up, along a deck, down) is routed over them. It used to report Unreachable while IsReachable said yes.
• Changing speed and warping no longer re-create the native agent: NativeId is stable for the agent’s life, a speed change applies at once (also at rest), and an agent in a formation keeps its slot.
• Link crossings are drawn from what the simulation reports (which link, ticks left) instead of a guess by nearest entrance: CurrentLink and LinkProgress are right for links that share a foot or stand in neighbouring cells, and the drawn crossing ends exactly when the agent lands.
• NavMeshAgentCompat.isStopped and ResetPath stop the agent where it stands instead of ordering it to its own cell.
• The wrapper requires a plugin of at least its own ABI (it accepted any plugin of the same major version).
• Replay format 6 (three new commands: set speed, warp, stop).

Removed

• MarchlineAgent.SetSpeed’s re-create behaviour and the notes that came with it (the id changing, a resting agent taking the speed on its next order).

[1.1.0] - 2026-10-04

An audit of 1.0.2 to 1.0.5 and of the obstacle component. Wrapper-only: native plugins and ABI (205) unchanged, so simulation results, saves and replays are identical.

Added

• Reachability. NavWorld.IsReachable(from, to) and MarchlineAgent.CanReach(position) answer “could an agent walk there?” at once, instead of ordering the move and waiting for Unreachable. NavWorld.SnapToReachable(from, target, maxRadius) (and TrySnapToReachable) return the nearest point to a target that an agent at from can actually get to. Judged on the planner’s own grid and the enabled MarchlineLinks (one-way links in their direction), in both update modes. After the ground changes, the next query relabels it (one pass over the grid, about 1 ms per 100,000 cells); queries between changes are lookups.
• NavWorld.RefreshRegionDeferred(bounds, margin): a refresh at the next simulation step, for geometry removed from inside OnDisable / OnDestroy.
• MarchlineObstacle.Rescan(): pick up colliders added after the component was enabled.
• A warning when a MarchlineLink end lands in a blocked cell (the link then carries nobody, and used to say nothing).

Changed

• RefreshRegion’s margin is in world units, as its documentation always said; it was applied as cells. MarchlineObstacle.margin is world units too (its tooltip said cells). With cellSize 1 nothing changes; on a finer grid the same number now pads further. Only the number of cells re-sampled changes, never the result.
• MarchlineAgent.SetSpeed on an agent at rest (Arrived or Idle) no longer re-creates it at once: it stays as it is and takes the new speed with its next order. Arrived used to flip to Idle.
• MarchlineAgent.State in background mode no longer reports the previous order’s resting state after a new order: until the snapshot shows the order, Arrived / Idle / Unreachable read as Planning, as the simulation itself reports.
• initialDestination is used only when the agent was given no order before Start.
• MarchlineAgent no longer has a LateUpdate (a pending speed change is applied from NavWorld’s own agent loop).
• NavMeshAgentCompat.Warp returns bool, like NavMeshAgent.Warp.

Fixed

• MarchlineObstacle: a destroyed obstacle left its cells blocked until the reconcile sweep came round (never, with the sweep off), and a deactivated one cleared only when its collider sat above the component. Inside OnDisable the departing collider still answers physics queries; the old footprint is now refreshed at the next step.
• MarchlineObstacle follows the colliders on its children (the footprint was a guess from the transform), and a collider being switched off or on.
• SetSpeed stopped an agent whose order came through NavWorld.MoveGroup, NavWorld.MoveTo(id, …) or MoveHandles: only orders given through MarchlineAgent.MoveTo were re-issued. Every order is remembered now. (An agent in a formation move carries on to the group’s destination, out of its slot.)
• Warp (and SetSpeed) in background mode: the agent was drawn back at its old place, with its old state, for one physics step.
• agentRadius under 45% of a cell shrank the scan probe, so a thin wall on a cell boundary fell between two probes and vanished (1 m cells, radius 0.2: a 0.3 m wall was invisible). The probe is never narrower than the classic 45%.
• RefreshRegion with a wide agentRadius in Physics2D mode widened X and Z instead of the grid’s plane.
• MarchlineAgent.MoveTo called before the agent’s Start (the frame it was created) was silently dropped; it is issued on registration.
• NavMeshAgentCompat.Warp only set the transform, which the next simulation sync overwrote.
• LinkProgress stuck at 1 after the first crossing of a link that has no MarchlineLink component.

[1.0.5] - 2026-10-04

Wrapper-only: native plugins and ABI (205) unchanged.

Added

• NavWorld.agentRadius and NavWorld.agentHeight: give the obstacle scan a body. A cell is walkable only when nothing stands within agentRadius of its centre, up to agentHeight above the floor, so a guard 0.6 m wide is no longer routed through 0.5 m gaps between props or under table tops. 0 (the default) keeps the classic rule (45% of a cell either side, up to 90% of a cell), so existing scenes are unchanged. The layered baker uses the same box; rebake after changing either.
• NavWorld.ProbeBox(...): the box the scan and the baker test, for tools that want to match them.

Changed

• RefreshRegion also re-checks the cells whose probe reaches into the region when agentRadius is wider than half a cell, so a moved MarchlineObstacle updates every cell it affects.

Fixed

• IsWalkable on the ground no longer throws in the editor after the grid was resized: a scan mirror left from the old size (domain reloads keep it) is ignored and physics is sampled instead.

[1.0.4] - 2026-10-02

Wrapper-only: native plugins and ABI (205) unchanged.

Added

• MarchlineAgent.SetSpeed(cellsPerTick): change an agent’s speed while playing (a guard breaking from a patrol walk into a run). The core fixes speed when an agent is created, so the agent is re-created where it stands and its current order re-issued; a crossing in progress finishes first. Before this, OverrideSpeed was read once at registration and later changes were silently ignored.
• MarchlineAgent.Warp(position): move an agent instantly (a respawn, a cutscene cut). It arrives idle, with its order and any crossing dropped.

[1.0.3] - 2026-10-02

Wrapper-only, like 1.0.2: native plugins and ABI (205) unchanged.

Added

• MarchlineLink.waypoints: points a crossing passes through between the entrance and the exit, in order. An escalator’s flat landings, a stair’s half-landing or a ramp’s bend can be followed exactly: smoothed crossings walk the path at constant speed, and goal snapping finds a target standing anywhere on it. A straight entrance-to-exit line floated agents up to a metre above an escalator’s lower landing and cut through its upper one. Planning still uses the two ends only. The link gizmo draws the path.
• MarchlineLink.GetPath(list, reverse): the crossing’s path in world space.

[1.0.2] - 2026-10-02

Found integrating Marchline into a multi-storey game (a three-floor mall with escalators). Wrapper-only: the native plugins and ABI (205) are unchanged from 1.0.1, so simulation results, saves and replays are identical.

Fixed

• Trigger colliders no longer block navigation. The live scan and the layered-grid baker counted triggers on obstacleMask as walls, so a level-wide volume (post-processing, audio zones, checkpoints) walled off every cell it covered — in the mall, a post-processing volume left 15% of the concourse walkable and every cross-floor order Unreachable. Both now ignore triggers regardless of the project’s “Queries Hit Triggers” setting. A trigger that should block must become a solid collider.
• Agents crossing a link (stairs, escalator, door) were drawn standing at the entrance for the whole crossing and then appeared at the exit. They are now drawn moving from the entrance to the exit over the link’s durationTicks. Display only: the simulation still holds the agent at the entrance, so determinism, saves and replays are unaffected. Teleporters still jump.

Added

• NavWorld.smoothLinkCrossings (default on): turn it off to keep the 1.0.1 presentation.
• MarchlineAgent.CurrentLink and MarchlineAgent.LinkProgress (0 to 1): the link an agent is crossing and how far along it is, to drive climb or door animations.

[1.0.1] - 2026-09-26

Fixed

• Goal snapping (NavWorld.SnapToWalkable, MoveTo(pos, snapToWalkable: true)) now respects floors. It searched the ground grid only, so a target on a baked upper floor above blocked ground (a tower deck over the keep) was silently re-aimed at the foot of the tower, and a target on an unwalkable cell of its floor (a parapet) reported Unreachable. The snap now searches the floor the target’s height selects, keeps that floor’s height, and falls back to the nearest other floor only when its own has nothing within reach.
• A chase target standing on a stairs link (mid-ramp, on no floor) snapped to the ground cell beside the ramp, where pursuers parked under it, Arrived, with no route to it. The snap now recognises a target on an enabled link’s crossing (within its width plus half a cell of margin for a body on the edge, at the crossing’s height there) and sends the order to the nearer end of the link, so pursuers wait where the target must step off.
• Agents standing inside a blocked cell (an obstacle rising under them, or a spawn inside a wall) step out to the nearest walkable cell instead of freezing.
• Chase AI that re-issues MoveTo every few frames no longer resets the agent’s stuck detection with every order: a positional stall clock keeps escalating to a reroute, so re-aimed pursuers still leave a plugged doorway.
• Core: a flat MoveTo (a ground-floor goal) issued to an agent while it is crossing a link pulled it out of the link back onto the floor and never released the link’s capacity slot — a chaser whose target ran back down the stairs while it climbed. After capacity such re-aims the link admitted nobody, for good (the Upstairs Chase hunters stopped climbing after a few quick reversals). The held order now waits for the crossing to complete; landed upstairs it routes back down through the layered planner. Ships with native plugins rebuilt from this core on every platform.

Added

• NavWorld.SnapToWalkableOn(layer, pos, maxRadius) and NavWorld.IsWalkable(layer, cell): per-floor snapping and the walkability predicate behind it (the live scan mirror for the ground, baked bytes for upper floors).
• MarchlineLink.width: plan width of a link’s crossing surface (0 = one cell), used by goal snapping to recognise targets standing on the link.

Changed

• Ground-floor snapping is judged by the scan mirror the planner plans on rather than a fresh physics query per cell: the same answer once a cell has been scanned, and no physics cost per order.
• Snapping returns the closest free cell, not the first one scanned in a ring (a target under the middle of a building could land a cell further away than necessary).

[1.0.0] - 2026-08-16

Initial release.