Deeper dive into obstacles
- Nav3D keeps a single global navigation octree (the obstacle storage) that holds the navigation graph of all obstacles in the scene. It is used during pathfinding.
- All operations with obstacles (adding or removing) are placed in an execution queue and performed sequentially on a background thread.
- Each operation is built off the live octree and published in a single atomic swap, so an in-progress pathfinding query never observes a half-updated graph.
- Obstacle processing means collecting the obstacle geometry, clustering nearby triangles, building the passability (navigation) graph for the affected region of the octree, and publishing it into the global octree.
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