A high-performance A* pathfinding library written in C++11, designed for real-time games and simulations with hundreds to thousands of moving objects. Built with a focus on performance, using flat array data structures and advanced caching mechanisms.

https://github.com/selimanac/defold-graph-pathfinder/discussions

For detailed function descriptions and usage examples:

• Path API Reference
• Navmesh API Reference

You can use this extension in your own project by adding it as a Defold library dependency.
Open your game.project file, select Project, and add a stable version from the releases page to the Dependencies field.

• Tiny City: https://github.com/selimanac/defold-tiny-city

This library consists of three parts:

The core library. Responsible for managing nodes, edges, and performing pathfinding.

✅ Projected Pathfinding
✅ Static Navmesh Pathfinding
✅ Min-Heap Priority Queue
✅ Path Caching
✅ Distance Caching

Responsible for existing path smoothing.
Currently available smoothing options:

✅ Quadratic Bézier
✅ Adaptive Bézier
✅ Catmull–Rom
✅ Cubic Bézier
✅ Circular Arc

Responsible for enabling agents to navigate along the path.

🚧 Path Following - WIP
🚧 Dynamic Nodes for Agents
🚧 Path Invalidation for Agents
🚧 Group Assignment for Agents
🚧 Group Formation Patterns
❌ Collision Avoidance — Not planned, maybe in the future

• Desktop: Linux (x86_64, arm64), macOS (x86_64, arm64), Windows (x86_64)
• Mobile: iOS (arm64, x86_64), Android (armv7, arm64)
• Web: JavaScript, WebAssembly (via Emscripten)

x86-win32 is not supported.

• High Performance: Optimized for real-time pathfinding with hundreds to thousands of moving objects
• *A Algorithm *: Classic A with heuristics for optimal and efficient pathfinding
• Flat Array Architecture: Cache-friendly memory layout using dmArray<T> from the Defold SDK
• Path Caching: LRU cache with version-based invalidation for frequently reused paths
• Projected Pathfinding: Supports pathfinding from arbitrary positions, not limited to graph nodes
• Spatial Index for Large Graphs: Grid-based spatial indexing for 10-100× speedup in large graphs (>500 nodes)
• Dynamic Graph Updates: Add or remove nodes and edges at runtime with automatic cache invalidation
• Min-Heap Priority Queue: Custom implementation with zero-copy memory pooling and bulk operations
• Distance Caching: Spatial hashing for fast approximate distance lookups
• No STL Containers: Uses dmArray<T> and dmHashTable<T> for all data structures
• Memory Pre-allocation: All arrays are pre-allocated at initialization; pathfinding uses only pre-allocated memory
• No Exceptions: Uses explicit error codes instead of C++ exceptions

• ✅ Free for personal, educational, and completely free games or apps.
• 💲 Commercial use (any monetized game/app) requires at least a one-time payment of $10 USD (monthly sponsorships are also welcome) via GitHub Sponsors.
• 📩 Free releases are welcome to share project info (name, genre, date, links).
• 🔒 The Software is closed-source; source access may be granted upon request.

So basically, if your released project is completely free and non-monetized, no payment or permission is required.

See License