diff --git a/addons/debug_draw_3d/LICENSE b/addons/debug_draw_3d/LICENSE
new file mode 100644
index 0000000..617a15b
--- /dev/null
+++ b/addons/debug_draw_3d/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 DmitriySalnikov
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the Software), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, andor sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED AS IS, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
\ No newline at end of file
diff --git a/addons/debug_draw_3d/README.md b/addons/debug_draw_3d/README.md
new file mode 100644
index 0000000..3f26a8f
--- /dev/null
+++ b/addons/debug_draw_3d/README.md
@@ -0,0 +1,162 @@
+
+
+# Debug drawing utility for Godot
+
+This is an add-on for debug drawing in 3D and for some 2D overlays, which is written in `C++` and can be used with `GDScript` or `C#`.
+
+Based on my previous addon, which was developed [only for C#](https://github.com/DmitriySalnikov/godot_debug_draw_cs), and which was inspired by [Zylann's GDScript addon](https://github.com/Zylann/godot_debug_draw)
+
+## [Documentation](https://dd3d.dmitriysalnikov.ru/docs/)
+
+## [Godot 3 version](https://github.com/DmitriySalnikov/godot_debug_draw_3d/tree/godot_3)
+
+## Support me
+
+Your support adds motivation to develop my public projects.
+
+
+
+
+
+USDT-TRC20 TEw934PrsffHsAn5M63SoHYRuZo984EF6v
+
+## Features
+
+3D:
+
+* Arrow
+* Billboard opaque square
+* Box
+* Camera Frustum
+* Cylinder
+* Gizmo
+* Grid
+* Line
+* Line Path
+* Line with Arrow
+* Plane
+* Points
+* Position 3D (3 crossing axes)
+* Sphere
+
+2D:
+
+* **[Work in progress]**
+
+Overlay:
+
+* Text (with grouping and coloring)
+* FPS Graph
+* Custom Graphs
+
+Precompiled for:
+
+* Windows
+* Linux (built on Ubuntu 20.04)
+* macOS (10.14+)
+* Android (5.0+)
+* iOS
+* Web (Firefox not supported)
+
+This addon supports working with several World3D and different Viewports.
+There is also a no depth test mode and other settings that can be changed for each instance.
+
+This library supports double-precision builds, for more information, [see the documentation](https://dd3d.dmitriysalnikov.ru/docs/1.4.5/md_docs_2DoublePrecision.html).
+
+## [Interactive Web Demo](https://dd3d.dmitriysalnikov.ru/demo/)
+
+[](https://dd3d.dmitriysalnikov.ru/demo/)
+
+> [!WARNING]
+>
+> * Firefox most likely can't run this demo
+
+## Download
+
+To download, use the [Godot Asset Library](https://godotengine.org/asset-library/asset/1766) or use one of the stable versions from the [GitHub Releases](https://github.com/DmitriySalnikov/godot_debug_draw_3d/releases) page.
+
+For versions prior to `1.4.5`, just download one of the `source codes` in the assets. For newer versions, download `debug-draw-3d_[version].zip`.
+
+### Installation
+
+* Close editor
+* Copy `addons/debug_draw_3d` to your `addons` folder, create it if the folder doesn't exist
+* Launch editor
+
+## Examples
+
+More examples can be found in the `examples_dd3d/` folder.
+
+Simple test:
+
+```gdscript
+func _process(delta: float) -> void:
+ var _time = Time.get_ticks_msec() / 1000.0
+ var box_pos = Vector3(0, sin(_time * 4), 0)
+ var line_begin = Vector3(-1, sin(_time * 4), 0)
+ var line_end = Vector3(1, cos(_time * 4), 0)
+
+ DebugDraw3D.draw_box(box_pos, Vector3(1, 2, 1), Color(0, 1, 0))
+ DebugDraw3D.draw_line(line_begin, line_end, Color(1, 1, 0))
+ DebugDraw2D.set_text("Time", _time)
+ DebugDraw2D.set_text("Frames drawn", Engine.get_frames_drawn())
+ DebugDraw2D.set_text("FPS", Engine.get_frames_per_second())
+ DebugDraw2D.set_text("delta", delta)
+```
+
+
+
+An example of using scoped configs:
+
+```gdscript
+@tool
+extends Node3D
+
+func _ready():
+ # Set the base scoped_config.
+ # Each frame will be reset to these scoped values.
+ DebugDraw3D.scoped_config().set_thickness(0.1).set_center_brightness(0.6)
+
+func _process(delta):
+ # Draw using the base scoped config.
+ DebugDraw3D.draw_box(Vector3.ZERO, Quaternion.IDENTITY, Vector3.ONE * 2, Color.CORNFLOWER_BLUE)
+ if true:
+ # Create a scoped config that will exist until exiting this if.
+ var _s = DebugDraw3D.new_scoped_config().set_thickness(0).set_center_brightness(0.1)
+ # Draw with a thickness of 0
+ DebugDraw3D.draw_box(Vector3.ZERO, Quaternion.IDENTITY, Vector3.ONE, Color.RED)
+ # If necessary, the values inside this scope can be changed
+ # even before each call to draw_*.
+ _s.set_thickness(0.05)
+ DebugDraw3D.draw_box(Vector3(1,0,1), Quaternion.IDENTITY, Vector3.ONE * 1, Color.BLUE_VIOLET)
+```
+
+
+
+> [!TIP]
+>
+> If you want to use a non-standard Viewport for rendering a 3d scene, then do not forget to specify it in the scoped config!
+
+## API
+
+This project has a separate [documentation](https://dd3d.dmitriysalnikov.ru/docs/) page.
+
+Also, a list of all functions is available in the documentation inside the editor (see `DebugDraw3D` and `DebugDraw2D`).
+
+
+
+## Known issues and limitations
+
+The text in the keys and values of a text group cannot contain multi-line strings.
+
+The entire text overlay can only be placed in one corner, unlike `DataGraphs`.
+
+[Frustum of Camera3D does not take into account the window size from ProjectSettings](https://github.com/godotengine/godot/issues/70362).
+
+## More screenshots
+
+`DebugDrawDemoScene.tscn` in editor
+
+
+`DebugDrawDemoScene.tscn` in play mode
+
diff --git a/addons/debug_draw_3d/debug_draw_3d.gdextension b/addons/debug_draw_3d/debug_draw_3d.gdextension
new file mode 100644
index 0000000..9017632
--- /dev/null
+++ b/addons/debug_draw_3d/debug_draw_3d.gdextension
@@ -0,0 +1,153 @@
+[configuration]
+
+entry_symbol = "debug_draw_3d_library_init"
+compatibility_minimum = "4.1.4"
+reloadable = false
+
+[dependencies]
+
+; example.x86_64 = { "relative or absolute path to the dependency" : "the path relative to the exported project", }
+; -------------------------------------
+; debug
+
+macos = { }
+windows.x86_64 = { }
+linux.x86_64 = { }
+
+; by default godot is using threads
+web.wasm32.nothreads = {}
+web.wasm32 = {}
+
+android.arm32 = { }
+android.arm64 = { }
+android.x86_32 = { }
+android.x86_64 = { }
+
+ios = {}
+
+; -------------------------------------
+; release no debug draw
+
+macos.template_release = { }
+windows.template_release.x86_64 = { }
+linux.template_release.x86_64 = { }
+
+web.template_release.wasm32.nothreads = { }
+web.template_release.wasm32 = { }
+
+android.template_release.arm32 = { }
+android.template_release.arm64 = { }
+android.template_release.x86_32 = { }
+android.template_release.x86_64 = { }
+
+ios.template_release = {}
+
+; -------------------------------------
+; release forced debug draw
+
+macos.template_release.forced_dd3d = { }
+windows.template_release.x86_64.forced_dd3d = { }
+linux.template_release.x86_64.forced_dd3d = { }
+
+web.template_release.wasm32.nothreads.forced_dd3d = { }
+web.template_release.wasm32.forced_dd3d = { }
+
+ios.template_release.forced_dd3d = {}
+
+[libraries]
+
+; -------------------------------------
+; debug
+
+macos = "libs/libdd3d.macos.editor.universal.framework"
+windows.x86_64 = "libs/libdd3d.windows.editor.x86_64.dll"
+linux.x86_64 = "libs/libdd3d.linux.editor.x86_64.so"
+
+web.wasm32.nothreads = "libs/libdd3d.web.template_debug.wasm32.wasm"
+web.wasm32 = "libs/libdd3d.web.template_debug.wasm32.threads.wasm"
+
+android.arm32 = "libs/libdd3d.android.template_debug.arm32.so"
+android.arm64 = "libs/libdd3d.android.template_debug.arm64.so"
+android.x86_32 = "libs/libdd3d.android.template_debug.x86_32.so"
+android.x86_64 = "libs/libdd3d.android.template_debug.x86_64.so"
+
+ios = "libs/libdd3d.ios.template_debug.universal.dylib"
+
+; -------------------------------------
+; release no debug draw
+
+macos.template_release = "libs/libdd3d.macos.template_release.universal.framework"
+windows.template_release.x86_64 = "libs/libdd3d.windows.template_release.x86_64.dll"
+linux.template_release.x86_64 = "libs/libdd3d.linux.template_release.x86_64.so"
+
+web.template_release.wasm32.nothreads = "libs/libdd3d.web.template_release.wasm32.wasm"
+web.template_release.wasm32 = "libs/libdd3d.web.template_release.wasm32.threads.wasm"
+
+android.template_release.arm32 = "libs/libdd3d.android.template_release.arm32.so"
+android.template_release.arm64 = "libs/libdd3d.android.template_release.arm64.so"
+android.template_release.x86_32 = "libs/libdd3d.android.template_release.x86_32.so"
+android.template_release.x86_64 = "libs/libdd3d.android.template_release.x86_64.so"
+
+ios.template_release = "libs/libdd3d.ios.template_release.universal.dylib"
+
+; -------------------------------------
+; release forced debug draw
+
+macos.template_release.forced_dd3d = "libs/libdd3d.macos.template_release.universal.enabled.framework"
+windows.template_release.x86_64.forced_dd3d = "libs/libdd3d.windows.template_release.x86_64.enabled.dll"
+linux.template_release.x86_64.forced_dd3d = "libs/libdd3d.linux.template_release.x86_64.enabled.so"
+
+web.template_release.wasm32.nothreads.forced_dd3d = "libs/libdd3d.web.template_release.wasm32.enabled.wasm"
+web.template_release.wasm32.forced_dd3d = "libs/libdd3d.web.template_release.wasm32.threads.enabled.wasm"
+
+ios.template_release.forced_dd3d = "libs/libdd3d.ios.template_release.universal.enabled.dylib"
+
+; -------------------------------------
+; DOUBLE PRECISION
+; -------------------------------------
+
+; -------------------------------------
+; debug
+
+macos.double = "libs/libdd3d.macos.editor.universal.double.framework"
+windows.x86_64.double = "libs/libdd3d.windows.editor.x86_64.double.dll"
+linux.x86_64.double = "libs/libdd3d.linux.editor.x86_64.double.so"
+
+web.wasm32.nothreads.double = "libs/libdd3d.web.template_debug.wasm32.double.wasm"
+web.wasm32.double = "libs/libdd3d.web.template_debug.wasm32.threads.double.wasm"
+
+android.arm32.double = "libs/libdd3d.android.template_debug.arm32.double.so"
+android.arm64.double = "libs/libdd3d.android.template_debug.arm64.double.so"
+android.x86_32.double = "libs/libdd3d.android.template_debug.x86_32.double.so"
+android.x86_64.double = "libs/libdd3d.android.template_debug.x86_64.double.so"
+
+ios.double = "libs/libdd3d.ios.template_debug.universal.dylib"
+
+; -------------------------------------
+; release no debug draw
+
+macos.template_release.double = "libs/libdd3d.macos.template_release.universal.double.framework"
+windows.template_release.x86_64.double = "libs/libdd3d.windows.template_release.x86_64.double.dll"
+linux.template_release.x86_64.double = "libs/libdd3d.linux.template_release.x86_64.double.so"
+
+web.template_release.wasm32.nothreads.double = "libs/libdd3d.web.template_release.wasm32.double.wasm"
+web.template_release.wasm32.double = "libs/libdd3d.web.template_release.wasm32.threads.double.wasm"
+
+android.template_release.arm32.double = "libs/libdd3d.android.template_release.arm32.double.so"
+android.template_release.arm64.double = "libs/libdd3d.android.template_release.arm64.double.so"
+android.template_release.x86_32.double = "libs/libdd3d.android.template_release.x86_32.double.so"
+android.template_release.x86_64.double = "libs/libdd3d.android.template_release.x86_64.double.so"
+
+ios.template_release.double = "libs/libdd3d.ios.template_release.universal.double.dylib"
+
+; -------------------------------------
+; release forced debug draw
+
+macos.template_release.forced_dd3d.double = "libs/libdd3d.macos.template_release.universal.enabled.double.framework"
+windows.template_release.x86_64.forced_dd3d.double = "libs/libdd3d.windows.template_release.x86_64.enabled.double.dll"
+linux.template_release.x86_64.forced_dd3d.double = "libs/libdd3d.linux.template_release.x86_64.enabled.double.so"
+
+web.template_release.wasm32.nothreads.forced_dd3d.double = "libs/libdd3d.web.template_release.wasm32.enabled.double.wasm"
+web.template_release.wasm32.forced_dd3d.double = "libs/libdd3d.web.template_release.wasm32.threads.enabled.double.wasm"
+
+ios.template_release.forced_dd3d.double = "libs/libdd3d.ios.template_release.universal.enabled.double.dylib"
diff --git a/addons/debug_draw_3d/libs/.gdignore b/addons/debug_draw_3d/libs/.gdignore
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diff --git a/addons/debug_draw_3d/libs/libdd3d.macos.editor.universal.framework/Resources/Info.plist b/addons/debug_draw_3d/libs/libdd3d.macos.editor.universal.framework/Resources/Info.plist
new file mode 100644
index 0000000..f478678
--- /dev/null
+++ b/addons/debug_draw_3d/libs/libdd3d.macos.editor.universal.framework/Resources/Info.plist
@@ -0,0 +1,33 @@
+
+
+
+
+ CFBundleInfoDictionaryVersion
+ 6.0
+ CFBundleDevelopmentRegion
+ en
+ CFBundleExecutable
+ libdd3d.macos.editor.universal.dylib
+ CFBundleName
+ Debug Draw 3D
+ CFBundleDisplayName
+ Debug Draw 3D
+ CFBundleIdentifier
+ ru.dmitriysalnikov.dd3d
+ NSHumanReadableCopyright
+ Copyright (c) Dmitriy Salnikov.
+ CFBundleVersion
+ 1.4.5
+ CFBundleShortVersionString
+ 1.4.5
+ CFBundlePackageType
+ FMWK
+ CSResourcesFileMapped
+
+ DTPlatformName
+ macosx
+ LSMinimumSystemVersion
+ 10.14
+
+
+
\ No newline at end of file
diff --git a/addons/debug_draw_3d/libs/libdd3d.macos.editor.universal.framework/libdd3d.macos.editor.universal.dylib b/addons/debug_draw_3d/libs/libdd3d.macos.editor.universal.framework/libdd3d.macos.editor.universal.dylib
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new file mode 100644
index 0000000..6728018
--- /dev/null
+++ b/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.enabled.framework/Resources/Info.plist
@@ -0,0 +1,33 @@
+
+
+
+
+ CFBundleInfoDictionaryVersion
+ 6.0
+ CFBundleDevelopmentRegion
+ en
+ CFBundleExecutable
+ libdd3d.macos.template_release.universal.enabled.dylib
+ CFBundleName
+ Debug Draw 3D
+ CFBundleDisplayName
+ Debug Draw 3D
+ CFBundleIdentifier
+ ru.dmitriysalnikov.dd3d
+ NSHumanReadableCopyright
+ Copyright (c) Dmitriy Salnikov.
+ CFBundleVersion
+ 1.4.5
+ CFBundleShortVersionString
+ 1.4.5
+ CFBundlePackageType
+ FMWK
+ CSResourcesFileMapped
+
+ DTPlatformName
+ macosx
+ LSMinimumSystemVersion
+ 10.14
+
+
+
\ No newline at end of file
diff --git a/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.enabled.framework/libdd3d.macos.template_release.universal.enabled.dylib b/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.enabled.framework/libdd3d.macos.template_release.universal.enabled.dylib
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new file mode 100644
index 0000000..bd05cdd
--- /dev/null
+++ b/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.framework/Resources/Info.plist
@@ -0,0 +1,33 @@
+
+
+
+
+ CFBundleInfoDictionaryVersion
+ 6.0
+ CFBundleDevelopmentRegion
+ en
+ CFBundleExecutable
+ libdd3d.macos.template_release.universal.dylib
+ CFBundleName
+ Debug Draw 3D
+ CFBundleDisplayName
+ Debug Draw 3D
+ CFBundleIdentifier
+ ru.dmitriysalnikov.dd3d
+ NSHumanReadableCopyright
+ Copyright (c) Dmitriy Salnikov.
+ CFBundleVersion
+ 1.4.5
+ CFBundleShortVersionString
+ 1.4.5
+ CFBundlePackageType
+ FMWK
+ CSResourcesFileMapped
+
+ DTPlatformName
+ macosx
+ LSMinimumSystemVersion
+ 10.14
+
+
+
\ No newline at end of file
diff --git a/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.framework/libdd3d.macos.template_release.universal.dylib b/addons/debug_draw_3d/libs/libdd3d.macos.template_release.universal.framework/libdd3d.macos.template_release.universal.dylib
new file mode 100644
index 0000000..92aada2
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_debug.wasm32.threads.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_debug.wasm32.threads.wasm
new file mode 100644
index 0000000..593d8d6
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_debug.wasm32.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_debug.wasm32.wasm
new file mode 100644
index 0000000..2f7314e
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.enabled.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.enabled.wasm
new file mode 100644
index 0000000..1f4011e
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.threads.enabled.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.threads.enabled.wasm
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.threads.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.threads.wasm
new file mode 100644
index 0000000..575ca79
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diff --git a/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.wasm b/addons/debug_draw_3d/libs/libdd3d.web.template_release.wasm32.wasm
new file mode 100644
index 0000000..dfbb1ce
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diff --git a/addons/debug_draw_3d/libs/libdd3d.windows.editor.x86_64.dll b/addons/debug_draw_3d/libs/libdd3d.windows.editor.x86_64.dll
new file mode 100644
index 0000000..497a0a7
Binary files /dev/null and b/addons/debug_draw_3d/libs/libdd3d.windows.editor.x86_64.dll differ
diff --git a/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.dll b/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.dll
new file mode 100644
index 0000000..63b3bb1
Binary files /dev/null and b/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.dll differ
diff --git a/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.enabled.dll b/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.enabled.dll
new file mode 100644
index 0000000..c547b5a
Binary files /dev/null and b/addons/debug_draw_3d/libs/libdd3d.windows.template_release.x86_64.enabled.dll differ
diff --git a/project.godot b/project.godot
index 277e044..912855b 100644
--- a/project.godot
+++ b/project.godot
@@ -42,10 +42,6 @@ enabled=PackedStringArray("res://addons/godot_resource_groups/plugin.cfg", "res:
auto_rebuild=true
-[physics]
-
-3d/physics_engine="JoltPhysics3D"
-
[input]
strafe_left={
@@ -78,3 +74,7 @@ turn_right={
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"location":0,"echo":false,"script":null)
]
}
+
+[physics]
+
+3d/physics_engine="JoltPhysics3D"
diff --git a/swarm_engine/flow_field_navigation/flow_field.tscn b/swarm_engine/flow_field_navigation/flow_field.tscn
deleted file mode 100644
index 6934463..0000000
--- a/swarm_engine/flow_field_navigation/flow_field.tscn
+++ /dev/null
@@ -1,3 +0,0 @@
-[gd_scene format=3 uid="uid://cn2xvs2g7box5"]
-
-[node name="FlowField" type="Node3D"]
diff --git a/swarm_engine/flow_field_navigation/flow_field_navigation.gd b/swarm_engine/flow_field_navigation/flow_field_navigation.gd
new file mode 100644
index 0000000..d4554c9
--- /dev/null
+++ b/swarm_engine/flow_field_navigation/flow_field_navigation.gd
@@ -0,0 +1,11 @@
+extends Node3D
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+ pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(delta: float) -> void:
+ pass
diff --git a/swarm_engine/flow_field_navigation/flow_field_navigation.tscn b/swarm_engine/flow_field_navigation/flow_field_navigation.tscn
new file mode 100644
index 0000000..ed77f5c
--- /dev/null
+++ b/swarm_engine/flow_field_navigation/flow_field_navigation.tscn
@@ -0,0 +1,6 @@
+[gd_scene load_steps=2 format=3 uid="uid://cn2xvs2g7box5"]
+
+[ext_resource type="Script" path="res://swarm_engine/flow_field_navigation/flow_field_navigation.gd" id="1_h76mu"]
+
+[node name="FlowFieldNavigation" type="Node3D"]
+script = ExtResource("1_h76mu")