2026.1.3

What's Changed

• [upstream] Fix crash on large-scale navmesh generation (assert trigge… (#119) @ikpil
• [upstream] When attempting to add a span that is invalid (zero or neg… (#118) @ikpil
• [upstream] Document span range values inclusivity/exclusivity (#117) @ikpil
• Pr/upgrade serilog (#116) @ikpil

Full Changelog: 2026.1.2...2026.1.3

2026.1.2

What's Changed

• Pr/sample geom provider (#115) @ikpil
• feat: add RcVec2i and RcVec3i structs with unit tests (#114) @ikpil
• refactor: replace Task.WaitAll with atomic counter for thread throttl… (#113) @ikpil
• Silk.NET 2.23.0 (#112) @ikpil
• refactor: remove ref parameters from OverlapQuantBounds (#111) @ikpil
• refactor: use 'in' modifier for struct parameters to avoid unnecessar… (#109) @ikpil

Full Changelog: 2026.1.1...2026.1.2

2026.1.1

What's Changed

[2026.1.1] - 2026-01-03

Added

• Added DtTileFlags (@ikpil)
• Added RcDebug (@ikpil)

Fixed

• Remove m_tileCount #102 (@ikpil)

Changed

• Support .NET 10 (@ikpil)
• Refactor: RcRecast.GetCon to use in parameter modifier (@ikpil)
• Refactor: RcMatrix4x4f to use 'in' modifier and enforce CS9191 (@ikpil)
• Refactor: Moved RcCollectionExtensions to the Extensions namespace to resolve naming conflicts (@ikpil)
• Refactor: Added Rc and Dt prefixes to classes to maintain consistency and prevent naming conflicts (@ikpil)
• Upgrade Microsoft.NET.Test.Sdk to 18.0.1 (@ikpil)
• Upgrade NUnit to 4.4.0 (@ikpil)
• Upgrade NUnit3TestAdapter to 6.0.1 (@ikpil)
• Upgrade NUnit.Analyzers to 4.11.2 (@ikpil)
• Upgrade BenchmarkDotNet to 0.15.8 (@ikpil)
• Upgrade Serilog.Settings.Configuration to 10.0.0 (@ikpil)
• Upgrade Serilog.Sinks.Console to 6.1.1 (@ikpil)
• Upgrade Newtonsoft.Json to 13.0.4 (@ikpil)
• Upgrade actions/checkout@v6 (@ikpil)

Removed

• Removed m_tileCount (@ikpil)

Special Thanks

• @Doprez

Full Changelog: 2025.2.1...2026.1.1

2025.2.1

[2025.2.1] - 2025-06-01

Added

• Nothing

Fixed

• Nothing

Changed

• Refactor FindFollowPath to use Span for better performance and safety (#100) @ikpil
• Refactor QueryPolygonsInTile to use Span for memory reuse (#99) @ikpil
• Replaced List with Span to reduce heap memory usage (#98) @ikpil
• Pr/remove list in raycast hit (#97) @ikpil
• revmoe RcArrayBenchmarkTests (#96) @ikpil
• changed PriorityQueueBenchmarks (#95) @ikpil
• change to ToVec3 for .NET Standard 2.1 Numerics compatibility (#94) @ikpil
• optimize DtConvexConvexIntersections.Intersect (#93) @ikpil
• Pr/optimize circle constraint (#92) @ikpil
• refactor(imgui): determined whether the mouse is on the UI through WantCaptureMouse property (#88) @sssooonnnggg
• feat(debug-draw): add an option to render meshes in a left-handed coordinate system (#86) @sssooonnnggg
• Nothing

Removed

• Nothing

Special Thanks

• @Doprez

Full Changelog: 2024.4.1...2025.2.1

2024.4.1

[2024.4.1] - 2024-11-19

Added

• Added RcBinaryMinHeap (@Sarofc)
• Added DotRecast.Benchmark (@Sarofc)

Fixed

• Fix raycast shortcuts (@Sarofc) #72
• Fix dynamic mesh bounds calculation (@ppiastucki) #77
  • issuer : @OhJeongrok
• Fix Support non-tiled dynamic nav meshes (@ppiastucki)

Changed

• Changed data structure of 'neis' from List to byte[] for optimized memory usage and improved access speed in DtLayerMonotoneRegion
• Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
• Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
• Changed DtNavMeshQuery.GetPolyWallSegments() to use Span for enhanced performance, memory efficiency.
• Changed bmin/bmax from int[] to RcVec3i for improved memory efficiency

Removed

• Nothing

Special Thanks

• @Doprez

Full Changelog: 2024.3.1...2024.4.1

2024.3.1

[2024.3.1] - 2024-07-09

Added

• Nothing

Fixed

• Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo

Changed

• Changed to reuse samples and edges list in BuildPolyDetail()
• Changed heights, areas, cons, and regs arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer
• Changed reg, area arrays to byte arrays for uniformity and efficiency in DtTileCacheContour
• Changed RcChunkyTriMesh to separate the function and variable.
• Changed to consolidate vector-related functions into one place.
• Changed stack handling from List to a fixed-size array with manual index management for optimization in RcLayers.BuildHeightfieldLayers()
• Changed to use Span and stackalloc for improved performance and memory management in RcLayers.BuildHeightfieldLayers()
• Changed vertCount and triCount to byte in DtPolyDetail
• Changed new float[] to stackalloc float[] in DtConvexConvexIntersections.Intersect()
• Changed agents management from list to dictionary in DtCrowd
• Changed to efficiently stack nearby DtCrowdAgents in DtCrowd.GetNeighbours()
• Changed to limit neighbor search to a maximum count and use array for memory efficiency in DtCrowd.AddNeighbour()

Removed

• Removed RcMeshDetails.VdistSq2(float[], float[])
• Removed RcVecUtils.Dot()
• Removed RcVecUtils.Scale()
• Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
• Removed RcVecUtils.Subtract(float[] verts, int i, int j)
• Removed RcVecUtils.Min(), RcVecUtils.Max()
• Removed RcVecUtils.Create(float[] values)
• Removed RcVecUtils.Dot2D(this RcVec3f this, Span v, int vi)

Special Thanks

• @Doprez

Full Changelog: 2024.2.3...2024.3.1

2024.2.3

[2024.2.3] - 2024-06-03

Added

• Added DtCollectPolysQuery and FindCollectPolyTest

Fixed

• Nothing

Changed

• Changed IDtPolyQuery interface to make Process() more versatile
• Changed PolyQueryInvoker to DtActionPolyQuery
• Changed DtTileCacheBuilder to a static class
• Changed DtTileCacheLayerHeaderReader to a static class
• Changed Dictionary<int, List<DtMeshTile>> to DtMeshTile[] to optimize memory usage
• Changed MAX_STEER_POINTS from class constant to local.
• Changed List<DtStraightPath> to Span<DtStraightPath> for enhanced memory efficiency
• Changed DtWriter to a static class and renamed it to RcIO
• Changed class Trajectory to interface ITrajectory

Removed

• Nothing

Special Thanks

• @Doprez

PR

• Changed List<DtStraightPath> to Span<DtStraightPath> for enhanced… (#70) @ikpil
• Changed Dictionary<int, List<DtMeshTile>> to DtMeshTile[] to opti… (#69) @ikpil
• Changed IDtPolyQuery interface to make Process() more versatile (#68) @ikpil

Full Changelog: 2024.2.2...2024.2.3

2024.2.2

[2024.2.2] - 2024-05-18

Added

• Added RcSpans UnitTest

Changed

• Changed class name of static functions to RcRecast and DtDetour
• Changed DtLink class member variable type from int to byte
• Changed initialization in DtNavMesh constructor to Init() function.

Special Thanks

• @Doprez

PR

• Pr/index to first link in linked list v2 (#67) @ikpil

Full Changelog: 2024.2.1...2024.2.2

2024.2.1

[2024.2.1] - 2024-05-04

Added

• Added RcCircularBuffer @ikpil
• Added struct DtCrowdScopedTimer to avoid allocations in scoped timer calls. @wrenge
• Added struct RcScopedTimer to avoid allocations in RcContext scoped timer @ikpil
• Added RcSpans @ikpil

Fixed

• SOH issue #14
• Optimization: reduce number of allocations on hot path. @awgil

Changed

• Changed DtPathCorridor.Init(int maxPath) function to allow setting the maximum path @ikpil
• Changed from List to RcCyclicBuffer in DtCrowdTelemetry execution timing sampling @wrenge
• RcCyclicBuffer optimizations @wrenge

Removed

Special Thanks

• @Doprez
• @Arctium

PR

• Optimization: reduce number of allocations on hot path in RcRasterizations.DividePoly (#62) @awgil
• SIMD for CyclicBuffer aggregation (#58) @wrenge
• CyclicBuffer optimizations (#55) @wrenge
• Avoid allocation in ScopedTimer call (#54) @wrenge
• Pr/fix telemetry memcpy (#53) @ikpil

Full Changelog: 2024.1.3...2024.2.1

2024.1.3

[2024.1.3] - 2024-02-13

Added

• Added DtNodeQueue UnitTest @ikpil
• Added RcSortedQueue UnitTest @ikpil
• Added IComparable interface to RcAtomicLong @ikpil
• Added Menu bar in Demo @ikpil

Changed

• Update Microsoft.NET.Test.Sdk 17.8.0 to 17.9.0
• Enhanced ToString method of DtNode to provide more detailed information.
• Reuse DtNode in DtNodePool

Special Thanks

• @Doprez
• @Arctium

Full Changelog: 2024.1.2...2024.1.3