From 47a93f7ab3b43c82684a4e2eaa872dee99348936 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Mon, 31 Jul 2023 10:17:59 +0900
Subject: [PATCH] remove nullable float in TraversHeightfield

---
 src/DotRecast.Detour.Dynamic/VoxelQuery.cs    | 24 ++++++++++---------
 .../Tools/DynamicUpdateTool.cs                |  8 +++----
 .../VoxelQueryTest.cs                         | 12 +++++-----
 3 files changed, 23 insertions(+), 21 deletions(-)

diff --git a/src/DotRecast.Detour.Dynamic/VoxelQuery.cs b/src/DotRecast.Detour.Dynamic/VoxelQuery.cs
index 2a17cc7..f2c2d40 100644
--- a/src/DotRecast.Detour.Dynamic/VoxelQuery.cs
+++ b/src/DotRecast.Detour.Dynamic/VoxelQuery.cs
@@ -47,12 +47,12 @@ namespace DotRecast.Detour.Dynamic
      *
      * @return Optional with hit parameter (t) or empty if no hit found
      */
-        public float? Raycast(RcVec3f start, RcVec3f end)
+        public bool Raycast(RcVec3f start, RcVec3f end, out float hit)
         {
-            return TraverseTiles(start, end);
+            return TraverseTiles(start, end, out hit);
         }
 
-        private float? TraverseTiles(RcVec3f start, RcVec3f end)
+        private bool TraverseTiles(RcVec3f start, RcVec3f end, out float hit)
         {
             float relStartX = start.x - origin.x;
             float relStartZ = start.z - origin.z;
@@ -79,10 +79,10 @@ namespace DotRecast.Detour.Dynamic
             float t = 0;
             while (true)
             {
-                float? hit = TraversHeightfield(sx, sz, start, end, t, Math.Min(1, Math.Min(tMaxX, tMaxZ)));
-                if (hit.HasValue)
+                bool isHit = TraversHeightfield(sx, sz, start, end, t, Math.Min(1, Math.Min(tMaxX, tMaxZ)), out hit);
+                if (isHit)
                 {
-                    return hit;
+                    return true;
                 }
 
                 if ((dx > 0 ? sx >= ex : sx <= ex) && (dz > 0 ? sz >= ez : sz <= ez))
@@ -104,10 +104,10 @@ namespace DotRecast.Detour.Dynamic
                 }
             }
 
-            return null;
+            return false;
         }
 
-        private float? TraversHeightfield(int x, int z, RcVec3f start, RcVec3f end, float tMin, float tMax)
+        private bool TraversHeightfield(int x, int z, RcVec3f start, RcVec3f end, float tMin, float tMax, out float hit)
         {
             RcHeightfield hf = heightfieldProvider.Invoke(x, z);
             if (null != hf)
@@ -151,7 +151,8 @@ namespace DotRecast.Detour.Dynamic
                         {
                             if (span.smin <= ymin && span.smax >= ymax)
                             {
-                                return Math.Min(1, tMin + t);
+                                hit = Math.Min(1, tMin + t);
+                                return true;
                             }
 
                             span = span.next;
@@ -178,7 +179,8 @@ namespace DotRecast.Detour.Dynamic
                 }
             }
 
-            return null;
+            hit = 0.0f;
+            return false;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
index 08078c9..55b05e8 100644
--- a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateTool.cs
@@ -174,12 +174,12 @@ public class DynamicUpdateTool : IRcTool
                 RcVec3f sp = RcVec3f.Of(spos.x, spos.y + 1.3f, spos.z);
                 RcVec3f ep = RcVec3f.Of(epos.x, epos.y + 1.3f, epos.z);
                 long t1 = RcFrequency.Ticks;
-                float? hitPos = dynaMesh.VoxelQuery().Raycast(sp, ep);
+                bool hasHit = dynaMesh.VoxelQuery().Raycast(sp, ep, out var hitPos);
                 long t2 = RcFrequency.Ticks;
                 raycastTime = (t2 - t1) / TimeSpan.TicksPerMillisecond;
-                raycastHit = hitPos.HasValue;
-                raycastHitPos = hitPos.HasValue
-                    ? RcVec3f.Of(sp.x + hitPos.Value * (ep.x - sp.x), sp.y + hitPos.Value * (ep.y - sp.y), sp.z + hitPos.Value * (ep.z - sp.z))
+                raycastHit = hasHit;
+                raycastHitPos = hasHit
+                    ? RcVec3f.Of(sp.x + hitPos * (ep.x - sp.x), sp.y + hitPos * (ep.y - sp.y), sp.z + hitPos * (ep.z - sp.z))
                     : ep;
             }
         }
diff --git a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
index 42b93ba..0590310 100644
--- a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
@@ -59,7 +59,7 @@ public class VoxelQueryTest
         RcVec3f end = RcVec3f.Of(320, 10, 57);
 
         // When
-        query.Raycast(start, end);
+        query.Raycast(start, end, out var hit);
         // Then
         hfProvider.Verify(mock => mock.Invoke(It.IsAny<int>(), It.IsAny<int>()), Times.Exactly(6));
         Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2 }));
@@ -73,8 +73,8 @@ public class VoxelQueryTest
         VoxelQuery query = mesh.VoxelQuery();
         RcVec3f start = RcVec3f.Of(7.4f, 0.5f, -64.8f);
         RcVec3f end = RcVec3f.Of(31.2f, 0.5f, -75.3f);
-        float? hit = query.Raycast(start, end);
-        Assert.That(hit, Is.Null);
+        bool isHit = query.Raycast(start, end, out var hit);
+        Assert.That(isHit, Is.EqualTo(false));
     }
 
     [Test]
@@ -84,9 +84,9 @@ public class VoxelQueryTest
         VoxelQuery query = mesh.VoxelQuery();
         RcVec3f start = RcVec3f.Of(32.3f, 0.5f, 47.9f);
         RcVec3f end = RcVec3f.Of(-31.2f, 0.5f, -29.8f);
-        float? hit = query.Raycast(start, end);
-        Assert.That(hit, Is.Not.Null);
-        Assert.That(hit.Value, Is.EqualTo(0.5263836f).Within(1e-7f));
+        bool isHit = query.Raycast(start, end, out var hit);
+        Assert.That(isHit, Is.EqualTo(true));
+        Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f));
     }
 
     private DynamicNavMesh CreateDynaMesh()