Just a quick update, I managed to track down the pathfinding issue mentioned in the previous article, it was down to a missing check for invalid navlinks during neighbour exploration. It wouldn't have been particularly noticeable as there are plenty of valid navlinks that would be preferred during exploration, but in the case where the path was completely blocked and the pathfinder was forced to keep exploring until it found this issue which only happened at higher (non-leaf) node layers and would be able to jump over obstacles.
The value of creating debug tools! It doesn't just look cool having a visual demonstration of masses of exploration in the nav volume, it turns up issues like this.
I've got a few little optimisations I want to make to the pathfinder still, then I'll be turning my attention to making a proper flying path follower that smooths and optimises the agent movement even more than the already optimised paths do. Ultimately this will lead to work on swarming and avoidance features which are leading towards a tech demo I've had in mind for some time.
Keep an eye on Github for updates :)
