remove FindNearestPolyResult ok

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -245,14 +245,14 @@ namespace DotRecast.Detour.Crowd
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
-            var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearest, out var _);
+            var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
             if (status.Failed())
             {
-                nearest = pos;
+                nearestPt = pos;
                 refs = 0;
             }
 
-            ag.corridor.Reset(refs, nearest);
+            ag.corridor.Reset(refs, nearestPt);
             ag.boundary.Reset();
             ag.partial = false;
 
@@ -262,7 +262,7 @@ namespace DotRecast.Detour.Crowd
             ag.dvel = RcVec3f.Zero;
             ag.nvel = RcVec3f.Zero;
             ag.vel = RcVec3f.Zero;
-            ag.npos = nearest;
+            ag.npos = nearestPt;
 
             ag.desiredSpeed = 0;
 
@@ -465,8 +465,8 @@ namespace DotRecast.Detour.Crowd
                 {
                     // Current location is not valid, try to reposition.
                     // TODO: this can snap agents, how to handle that?
-                    _navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearest, out var _);
+                    _navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
-                    agentPos = nearest;
+                    agentPos = nearestPt;
 
                     if (agentRef == 0)
                     {
@@ -505,8 +505,8 @@ namespace DotRecast.Detour.Crowd
                     if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
                     {
                         // Current target is not valid, try to reposition.
-                        _navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearest, out var _);
+                        _navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
-                        ag.targetPos = nearest;
+                        ag.targetPos = nearestPt;
                         replan = true;
                     }
 

src/DotRecast.Detour/DtNavMesh.cs

@@ -840,14 +840,12 @@ namespace DotRecast.Detour
                 p.x = targetCon.pos[3];
                 p.y = targetCon.pos[4];
                 p.z = targetCon.pos[5];
-                FindNearestPolyResult nearest = FindNearestPolyInTile(tile, p, ext);
+                var refs = FindNearestPolyInTile(tile, p, ext, out var nearestPt);
-                long refs = nearest.GetNearestRef();
                 if (refs == 0)
                 {
                     continue;
                 }
 
-                var nearestPt = nearest.GetNearestPos();
                 // findNearestPoly may return too optimistic results, further check
                 // to make sure.
 
@@ -1070,15 +1068,13 @@ namespace DotRecast.Detour
                 };
 
                 // Find polygon to connect to.
-                FindNearestPolyResult nearestPoly = FindNearestPolyInTile(tile, RcVec3f.Of(con.pos), ext);
+                var refs = FindNearestPolyInTile(tile, RcVec3f.Of(con.pos), ext, out var nearestPt);
-                long refs = nearestPoly.GetNearestRef();
                 if (refs == 0)
                 {
                     continue;
                 }
 
                 float[] p = con.pos; // First vertex
-                RcVec3f nearestPt = nearestPoly.GetNearestPos();
                 // findNearestPoly may return too optimistic results, further check
                 // to make sure.
                 if (Sqr(nearestPt.x - p[0]) + Sqr(nearestPt.z - p[2]) > Sqr(con.rad))
@@ -1343,12 +1339,14 @@ namespace DotRecast.Detour
             closest = ClosestPointOnDetailEdges(tile, poly, pos, true);
         }
 
-        FindNearestPolyResult FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f extents)
+        /// Find nearest polygon within a tile.
+        private long FindNearestPolyInTile(DtMeshTile tile, RcVec3f center, RcVec3f halfExtents, out RcVec3f nearestPt)
         {
-            RcVec3f nearestPt = new RcVec3f();
+            nearestPt = RcVec3f.Zero;
+
             bool overPoly = false;
-            RcVec3f bmin = center.Subtract(extents);
+            RcVec3f bmin = center.Subtract(halfExtents);
-            RcVec3f bmax = center.Add(extents);
+            RcVec3f bmax = center.Add(halfExtents);
 
             // Get nearby polygons from proximity grid.
             List<long> polys = QueryPolygonsInTile(tile, bmin, bmax);
@@ -1384,7 +1382,7 @@ namespace DotRecast.Detour
                 }
             }
 
-            return new FindNearestPolyResult(nearest, nearestPt, overPoly);
+            return nearest;
         }
 
         DtMeshTile GetTileAt(int x, int y, int layer)

src/DotRecast.Detour/QueryResults/FindNearestPolyResult.cs

@@ -1,55 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using DotRecast.Core;
-
-namespace DotRecast.Detour.QueryResults
-{
-    public class FindNearestPolyResult
-    {
-        private readonly long nearestRef;
-        private readonly RcVec3f nearestPos;
-        private readonly bool overPoly;
-
-        public FindNearestPolyResult(long nearestRef, RcVec3f nearestPos, bool overPoly)
-        {
-            this.nearestRef = nearestRef;
-            this.nearestPos = nearestPos;
-            this.overPoly = overPoly;
-        }
-
-        /** Returns the reference id of the nearest polygon. 0 if no polygon is found. */
-        public long GetNearestRef()
-        {
-            return nearestRef;
-        }
-
-        /** Returns the nearest point on the polygon. [opt] [(x, y, z)]. Unchanged if no polygon is found. */
-        public RcVec3f GetNearestPos()
-        {
-            return nearestPos;
-        }
-
-        public bool IsOverPoly()
-        {
-            return overPoly;
-        }
-    }
-}

src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs

@@ -279,7 +279,7 @@ public class CrowdProfilingTool
     private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
     {
         // Move somewhere
-        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
+        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
         if (status.Succeeded())
         {
             status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 2f, filter, rnd,
@@ -294,7 +294,7 @@ public class CrowdProfilingTool
     private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
     {
         // Move somewhere close
-        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
+        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
         if (status.Succeeded())
         {
             status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 0.2f, filter, rnd,

src/DotRecast.Recast.Demo/Tools/CrowdTool.cs

@@ -158,7 +158,7 @@ public class CrowdTool : ITool
             {
                 IDtQueryFilter filter = new DtQueryDefaultFilter();
                 RcVec3f halfExtents = crowd.GetQueryExtents();
-                navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearest, out var _);
+                navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearestPt, out var _);
                 if (refs != 0)
                 {
                     Result<int> flags = nav.GetPolyFlags(refs);

test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs

@@ -143,10 +143,10 @@ public class AbstractCrowdTest
         }
         else
         {
-            query.FindNearestPoly(pos, ext, filter, out var refs, out var nearest, out var _);
+            query.FindNearestPoly(pos, ext, filter, out var nearestRef, out var nearestPt, out var _);
             foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
             {
-                crowd.RequestMoveTarget(ag, refs, nearest);
+                crowd.RequestMoveTarget(ag, nearestRef, nearestPt);
             }
         }
     }

test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs

@@ -109,11 +109,11 @@ public class UnityAStarPathfindingImporterTest
         for (int i = 0; i < results.Length; i++)
         {
             RcVec3f position = positions[i];
-            var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearest, out var _);
+            var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearestPt, out var _);
             Assert.That(status.Succeeded(), Is.True);
-            Assert.That(nearest, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
+            Assert.That(nearestPt, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
 
-            results[i] = new DtPolyPoint(nearestRef, nearest);
+            results[i] = new DtPolyPoint(nearestRef, nearestPt);
         }
 
         return results;

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -42,12 +42,12 @@ public class FindNearestPolyTest : AbstractDetourTest
         for (int i = 0; i < startRefs.Length; i++)
         {
             RcVec3f startPos = startPoss[i];
-            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
+            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
             Assert.That(status.Succeeded(), Is.True);
             Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
             for (int v = 0; v < POLY_POS[i].Length; v++)
             {
-                Assert.That(nearest[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
+                Assert.That(nearestPt[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
             }
         }
     }
@@ -61,12 +61,12 @@ public class FindNearestPolyTest : AbstractDetourTest
         for (int i = 0; i < startRefs.Length; i++)
         {
             RcVec3f startPos = startPoss[i];
-            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
+            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
             Assert.That(status.Succeeded(), Is.True);
             Assert.That(nearestRef, Is.EqualTo(0L));
             for (int v = 0; v < POLY_POS[i].Length; v++)
             {
-                Assert.That(nearest[v], Is.EqualTo(startPos[v]).Within(0.001f));
+                Assert.That(nearestPt[v], Is.EqualTo(startPos[v]).Within(0.001f));
             }
         }
     }