Connect tile polygons from different layers#1
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Root cause: The connectExtLinks function (which links tiles at the same x,y position but different layers) only processes DT_EXT_LINK edges - edges where the polygon mesh touches the tile boundary. For the slope geometry in the test, the walkable area never reaches the tile boundary (it's eroded away), so no DT_EXT_LINK edges exist. As a result, layers -1 and 0 had no connections, causing findPath to return DT_PARTIAL_RESULT. Fix: Added a new connectLayerLinks(tile, target) function in DetourNavMesh.cpp that connects same-position tiles (different layers) by finding xz-overlapping polygons: * For each ground polygon in tile, compute its centroid. * Query findNearestPolyInTile in target with that centroid. * If the nearest polygon in target contains the centroid in xz (dxz < 1e-3) and the height difference is within walkableClimb, create a link with side=0xff (layer-to-layer connection). This is called bidirectionally (connectLayerLinks(tile, neis[j]) and connectLayerLinks(neis[j], tile)) from the same place existing layer connection code runs in addTile.
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Fixes recastnavigation#818.
Root cause: The connectExtLinks function (which links tiles at the same x,y position but different layers) only processes DT_EXT_LINK edges - edges where the polygon mesh touches the tile boundary. For the slope geometry in the test, the walkable area never reaches the tile boundary (it's eroded away), so no DT_EXT_LINK edges exist. As a result, layers -1 and 0 had no connections, causing findPath to return DT_PARTIAL_RESULT.
Fix: Added a new connectLayerLinks(tile, target) function in DetourNavMesh.cpp that connects same-position tiles (different layers) by finding xz-overlapping polygons:
This is called bidirectionally (connectLayerLinks(tile, neis[j]) and connectLayerLinks(neis[j], tile)) from the same place existing layer connection code runs in addTile.