remove FindNearestPolyResult 1st

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -245,10 +245,13 @@ namespace DotRecast.Detour.Crowd
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
-            Result<FindNearestPolyResult> nearestPoly = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType]);
+            var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearest, out var _);
+            if (status.Failed())
+            {
+                nearest = pos;
+                refs = 0;
+            }
 
-            var nearest = nearestPoly.Succeeded() ? nearestPoly.result.GetNearestPos() : pos;
-            long refs = nearestPoly.Succeeded() ? nearestPoly.result.GetNearestRef() : 0L;
             ag.corridor.Reset(refs, nearest);
             ag.boundary.Reset();
             ag.partial = false;
@@ -462,13 +465,8 @@ namespace DotRecast.Detour.Crowd
                 {
                     // Current location is not valid, try to reposition.
                     // TODO: this can snap agents, how to handle that?
-                    Result<FindNearestPolyResult> nearestPoly = _navQuery.FindNearestPoly(ag.npos, _ext,
+                    _navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearest, out var _);
-                        _filters[ag.option.queryFilterType]);
+                    agentPos = nearest;
-                    agentRef = nearestPoly.Succeeded() ? nearestPoly.result.GetNearestRef() : 0L;
-                    if (nearestPoly.Succeeded())
-                    {
-                        agentPos = nearestPoly.result.GetNearestPos();
-                    }
 
                     if (agentRef == 0)
                     {
@@ -507,14 +505,8 @@ namespace DotRecast.Detour.Crowd
                     if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
                     {
                         // Current target is not valid, try to reposition.
-                        Result<FindNearestPolyResult> fnp = _navQuery.FindNearestPoly(ag.targetPos, _ext,
+                        _navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearest, out var _);
-                            _filters[ag.option.queryFilterType]);
+                        ag.targetPos = nearest;
-                        ag.targetRef = fnp.Succeeded() ? fnp.result.GetNearestRef() : 0L;
-                        if (fnp.Succeeded())
-                        {
-                            ag.targetPos = fnp.result.GetNearestPos();
-                        }
-
                         replan = true;
                     }
 

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -6,30 +6,30 @@ namespace DotRecast.Detour
 {
     public class DtFindNearestPolyQuery : IDtPolyQuery
     {
-        private readonly DtNavMeshQuery query;
+        private readonly DtNavMeshQuery _query;
-        private readonly RcVec3f center;
+        private readonly RcVec3f _center;
-        private long nearestRef;
+        private long _nearestRef;
-        private RcVec3f nearestPt;
+        private RcVec3f _nearestPt;
-        private bool overPoly;
+        private bool _overPoly;
-        private float nearestDistanceSqr;
+        private float _nearestDistanceSqr;
 
         public DtFindNearestPolyQuery(DtNavMeshQuery query, RcVec3f center)
         {
-            this.query = query;
+            this._query = query;
-            this.center = center;
+            this._center = center;
-            nearestDistanceSqr = float.MaxValue;
+            _nearestDistanceSqr = float.MaxValue;
-            nearestPt = center;
+            _nearestPt = center;
         }
 
         public void Process(DtMeshTile tile, DtPoly poly, long refs)
         {
             // Find nearest polygon amongst the nearby polygons.
-            query.ClosestPointOnPoly(refs, center, out var closestPtPoly, out var posOverPoly);
+            _query.ClosestPointOnPoly(refs, _center, out var closestPtPoly, out var posOverPoly);
 
             // If a point is directly over a polygon and closer than
             // climb height, favor that instead of straight line nearest point.
             float d = 0;
-            RcVec3f diff = center.Subtract(closestPtPoly);
+            RcVec3f diff = _center.Subtract(closestPtPoly);
             if (posOverPoly)
             {
                 d = Math.Abs(diff.y) - tile.data.header.walkableClimb;
@@ -40,18 +40,28 @@ namespace DotRecast.Detour
                 d = RcVec3f.LenSqr(diff);
             }
 
-            if (d < nearestDistanceSqr)
+            if (d < _nearestDistanceSqr)
             {
-                nearestPt = closestPtPoly;
+                _nearestPt = closestPtPoly;
-                nearestDistanceSqr = d;
+                _nearestDistanceSqr = d;
-                nearestRef = refs;
+                _nearestRef = refs;
-                overPoly = posOverPoly;
+                _overPoly = posOverPoly;
             }
         }
 
-        public FindNearestPolyResult Result()
+        public long NearestRef()
         {
-            return new FindNearestPolyResult(nearestRef, nearestPt, overPoly);
+            return _nearestRef;
+        }
+
+        public RcVec3f NearestPt()
+        {
+            return _nearestPt;
+        }
+
+        public bool OverPoly()
+        {
+            return _overPoly;
         }
     }
 }

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -559,29 +559,36 @@ namespace DotRecast.Detour
             return null != height ? Results.Success(height.Value) : Results.InvalidParam<float>();
         }
 
-        /**
+        /// Finds the polygon nearest to the specified center point.
-     * Finds the polygon nearest to the specified center point. If center and nearestPt point to an equal position,
+        /// [opt] means the specified parameter can be a null pointer, in that case the output parameter will not be set.
-     * isOverPoly will be true; however there's also a special case of climb height inside the polygon
+        /// 
-     *
+        ///  @param[in]		center		The center of the search box. [(x, y, z)]
-     * @param center
+        ///  @param[in]		halfExtents	The search distance along each axis. [(x, y, z)]
-     *            The center of the search box. [(x, y, z)]
+        ///  @param[in]		filter		The polygon filter to apply to the query.
-     * @param halfExtents
+        ///  @param[out]	nearestRef	The reference id of the nearest polygon. Will be set to 0 if no polygon is found.
-     *            The search distance along each axis. [(x, y, z)]
+        ///  @param[out]	nearestPt	The nearest point on the polygon. Unchanged if no polygon is found. [opt] [(x, y, z)]
-     * @param filter
+        ///  @param[out]	isOverPoly 	Set to true if the point's X/Z coordinate lies inside the polygon, false otherwise. Unchanged if no polygon is found. [opt]
-     *            The polygon filter to apply to the query.
+        /// @returns The status flags for the query.
-     * @return FindNearestPolyResult containing nearestRef, nearestPt and overPoly
+        public DtStatus FindNearestPoly(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter,
-     */
+            out long nearestRef, out RcVec3f nearestPt, out bool isOverPoly)
-        public Result<FindNearestPolyResult> FindNearestPoly(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter)
         {
+            nearestRef = 0;
+            nearestPt = center;
+            isOverPoly = false;
+            
             // Get nearby polygons from proximity grid.
             DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
             DtStatus status = QueryPolygons(center, halfExtents, filter, query);
             if (status.Failed())
             {
-                return Results.Of<FindNearestPolyResult>(status, "");
+                return status;
             }
 
-            return Results.Success(query.Result());
+            nearestRef = query.NearestRef();
+            nearestPt = query.NearestPt();
+            isOverPoly = query.OverPoly();
+
+            return DtStatus.DT_SUCCSESS;
         }
 
         // FIXME: (PP) duplicate?
@@ -3318,7 +3325,7 @@ namespace DotRecast.Detour
             {
                 return false;
             }
-            
+
             // If cannot pass filter, assume flags has changed and boundary is invalid.
             if (!filter.PassFilter(refs, tile, poly))
             {

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

@@ -279,10 +279,10 @@ public class CrowdProfilingTool
     private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
     {
         // Move somewhere
-        Result<FindNearestPolyResult> nearestPoly = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter);
+        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
-        if (nearestPoly.Succeeded())
+        if (status.Succeeded())
         {
-            var status = navquery.FindRandomPointAroundCircle(nearestPoly.result.GetNearestRef(), crowAgentData.home, zoneRadius * 2f, filter, rnd, 
+            status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 2f, filter, rnd,
                 out var randomRef, out var randomPt);
             if (status.Succeeded())
             {
@@ -294,10 +294,10 @@ public class CrowdProfilingTool
     private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, CrowdAgentData crowAgentData)
     {
         // Move somewhere close
-        Result<FindNearestPolyResult> nearestPoly = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter);
+        var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearest, out var _);
-        if (nearestPoly.Succeeded())
+        if (status.Succeeded())
         {
-            var status = navquery.FindRandomPointAroundCircle(nearestPoly.result.GetNearestRef(), crowAgentData.home, zoneRadius * 0.2f, filter, rnd,
+            status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, zoneRadius * 0.2f, filter, rnd,
                 out var randomRef, out var randomPt);
             if (status.Succeeded())
             {

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

@@ -158,8 +158,7 @@ public class CrowdTool : ITool
             {
                 IDtQueryFilter filter = new DtQueryDefaultFilter();
                 RcVec3f halfExtents = crowd.GetQueryExtents();
-                Result<FindNearestPolyResult> result = navquery.FindNearestPoly(p, halfExtents, filter);
+                navquery.FindNearestPoly(p, halfExtents, filter, out var refs, out var nearest, out var _);
-                long refs = result.result.GetNearestRef();
                 if (refs != 0)
                 {
                     Result<int> flags = nav.GetPolyFlags(refs);
@@ -288,9 +287,7 @@ public class CrowdTool : ITool
         }
         else
         {
-            Result<FindNearestPolyResult> result = navquery.FindNearestPoly(p, halfExtents, filter);
+            navquery.FindNearestPoly(p, halfExtents, filter, out m_targetRef, out m_targetPos, out var _);
-            m_targetRef = result.result.GetNearestRef();
-            m_targetPos = result.result.GetNearestPos();
             if (m_agentDebug.agent != null)
             {
                 crowd.RequestMoveTarget(m_agentDebug.agent, m_targetRef, m_targetPos);
@@ -798,10 +795,8 @@ public class CrowdTool : ITool
     {
         return "Crowd";
     }
-    
+
     public void HandleClickRay(RcVec3f start, RcVec3f direction, bool shift)
     {
-
     }
-
 }

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

@@ -168,7 +168,7 @@ public class TestNavmeshTool : ITool
         DtNavMeshQuery m_navQuery = m_sample.GetNavMeshQuery();
         if (m_sposSet)
         {
-            m_startRef = m_navQuery.FindNearestPoly(m_spos, m_polyPickExt, m_filter).result?.GetNearestRef() ?? 0;
+            m_navQuery.FindNearestPoly(m_spos, m_polyPickExt, m_filter, out m_startRef, out var _, out var _);
         }
         else
         {
@@ -177,7 +177,7 @@ public class TestNavmeshTool : ITool
 
         if (m_eposSet)
         {
-            m_endRef = m_navQuery.FindNearestPoly(m_epos, m_polyPickExt, m_filter).result?.GetNearestRef() ?? 0;
+            m_navQuery.FindNearestPoly(m_epos, m_polyPickExt, m_filter, out m_endRef, out var _, out var _);
         }
         else
         {

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

@@ -143,10 +143,10 @@ public class AbstractCrowdTest
         }
         else
         {
-            Result<FindNearestPolyResult> nearest = query.FindNearestPoly(pos, ext, filter);
+            query.FindNearestPoly(pos, ext, filter, out var refs, out var nearest, out var _);
             foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
             {
-                crowd.RequestMoveTarget(ag, nearest.result.GetNearestRef(), nearest.result.GetNearestPos());
+                crowd.RequestMoveTarget(ag, refs, nearest);
             }
         }
     }

test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs

@@ -34,30 +34,35 @@ public class DynamicNavMeshTest
         Task<bool> future = mesh.Build(Task.Factory);
         // wait for build to complete
         bool _ = future.Result;
+
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
         IDtQueryFilter filter = new DtQueryDefaultFilter();
+
         // find path
-        FindNearestPolyResult start = query.FindNearestPoly(START_POS, EXTENT, filter).result;
+        query.FindNearestPoly(START_POS, EXTENT, filter, out var startRef, out var startPt, out var _);
-        FindNearestPolyResult end = query.FindNearestPoly(END_POS, EXTENT, filter).result;
+        query.FindNearestPoly(END_POS, EXTENT, filter, out var endRef, out var endPt, out var _);
-        List<long> path = query.FindPath(start.GetNearestRef(), end.GetNearestRef(), start.GetNearestPos(),
+
-            end.GetNearestPos(), filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
+        List<long> path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
         // check path length without any obstacles
         Assert.That(path.Count, Is.EqualTo(16));
+
         // place obstacle
         ICollider colldier = new SphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
         long colliderId = mesh.AddCollider(colldier);
+
         // update navmesh asynchronously
         future = mesh.Update(Task.Factory);
         // wait for update to complete
         _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
+
         // find path again
-        start = query.FindNearestPoly(START_POS, EXTENT, filter).result;
+        query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
-        end = query.FindNearestPoly(END_POS, EXTENT, filter).result;
+        query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
-        path = query.FindPath(start.GetNearestRef(), end.GetNearestRef(), start.GetNearestPos(), end.GetNearestPos(), filter,
+        path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
-            DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
+        
         // check path length with obstacles
         Assert.That(path.Count, Is.EqualTo(19));
         // remove obstacle
@@ -68,11 +73,12 @@ public class DynamicNavMeshTest
         _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
+        
         // find path one more time
-        start = query.FindNearestPoly(START_POS, EXTENT, filter).result;
+        query.FindNearestPoly(START_POS, EXTENT, filter, out startRef, out startPt, out var _);
-        end = query.FindNearestPoly(END_POS, EXTENT, filter).result;
+        query.FindNearestPoly(END_POS, EXTENT, filter, out endRef, out endPt, out var _);
-        path = query.FindPath(start.GetNearestRef(), end.GetNearestRef(), start.GetNearestPos(), end.GetNearestPos(), filter,
+        path = query.FindPath(startRef, endRef, startPt, endPt, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
-            DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
+        
         // path length should be back to the initial value
         Assert.That(path.Count, Is.EqualTo(16));
     }

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

@@ -66,15 +66,15 @@ public class UnityAStarPathfindingImporterTest
         DtMeshData data = tile.data;
         DtBVNode[] bvNodes = data.bvTree;
         data.bvTree = null; // set BV-Tree empty to get 'clear' search poly without BV
-        FindNearestPolyResult clearResult = GetNearestPolys(mesh, position)[0]; // check poly to exists
+        var clearResult = GetNearestPolys(mesh, position)[0]; // check poly to exists
 
         // restore BV-Tree and try search again
         // important aspect in that test: BV result must equals result without BV
         // if poly not found or found other poly - tile bounds is wrong!
         data.bvTree = bvNodes;
-        FindNearestPolyResult bvResult = GetNearestPolys(mesh, position)[0];
+        var bvResult = GetNearestPolys(mesh, position)[0];
 
-        Assert.That(bvResult.GetNearestRef(), Is.EqualTo(clearResult.GetNearestRef()));
+        Assert.That(bvResult.refs, Is.EqualTo(clearResult.refs));
     }
 
     private DtNavMesh LoadNavMesh(string filename)
@@ -95,24 +95,25 @@ public class UnityAStarPathfindingImporterTest
         DtNavMeshQuery query = new DtNavMeshQuery(mesh);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
 
-        FindNearestPolyResult[] polys = GetNearestPolys(mesh, startPos, endPos);
+        var polys = GetNearestPolys(mesh, startPos, endPos);
-        return query.FindPath(polys[0].GetNearestRef(), polys[1].GetNearestRef(), startPos, endPos, filter);
+        return query.FindPath(polys[0].refs, polys[1].refs, startPos, endPos, filter);
     }
 
-    private FindNearestPolyResult[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions)
+    private DtPolyPoint[] GetNearestPolys(DtNavMesh mesh, params RcVec3f[] positions)
     {
         DtNavMeshQuery query = new DtNavMeshQuery(mesh);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         RcVec3f extents = RcVec3f.Of(0.1f, 0.1f, 0.1f);
 
-        FindNearestPolyResult[] results = new FindNearestPolyResult[positions.Length];
+        var results = new DtPolyPoint[positions.Length];
         for (int i = 0; i < results.Length; i++)
         {
             RcVec3f position = positions[i];
-            Result<FindNearestPolyResult> result = query.FindNearestPoly(position, extents, filter);
+            var status = query.FindNearestPoly(position, extents, filter, out var nearestRef, out var nearest, out var _);
-            Assert.That(result.Succeeded(), Is.True);
+            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(result.result.GetNearestPos(), Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
+            Assert.That(nearest, Is.Not.EqualTo(RcVec3f.Zero), "Nearest start position is null!");
-            results[i] = result.result;
+
+            results[i] = new DtPolyPoint(nearestRef, nearest);
         }
 
         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];
-            Result<FindNearestPolyResult> poly = query.FindNearestPoly(startPos, extents, filter);
+            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
-            Assert.That(poly.Succeeded(), Is.True);
+            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(poly.result.GetNearestRef(), Is.EqualTo(POLY_REFS[i]));
+            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
             for (int v = 0; v < POLY_POS[i].Length; v++)
             {
-                Assert.That(poly.result.GetNearestPos()[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
+                Assert.That(nearest[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];
-            Result<FindNearestPolyResult> poly = query.FindNearestPoly(startPos, extents, filter);
+            var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearest, out var _);
-            Assert.That(poly.Succeeded(), Is.True);
+            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(poly.result.GetNearestRef(), Is.EqualTo(0L));
+            Assert.That(nearestRef, Is.EqualTo(0L));
             for (int v = 0; v < POLY_POS[i].Length; v++)
             {
-                Assert.That(poly.result.GetNearestPos()[v], Is.EqualTo(startPos[v]).Within(0.001f));
+                Assert.That(nearest[v], Is.EqualTo(startPos[v]).Within(0.001f));
             }
         }
     }

test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs

@@ -49,12 +49,9 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         RcVec3f extents = RcVec3f.Of(2f, 4f, 2f);
-        Result<FindNearestPolyResult> findPolyStart = query.FindNearestPoly(start, extents, filter);
+        query.FindNearestPoly(start, extents, filter, out var startRef, out var startPos, out var _);
-        Result<FindNearestPolyResult> findPolyEnd = query.FindNearestPoly(end, extents, filter);
+        query.FindNearestPoly(end, extents, filter, out var endRef, out var endPos, out var _);
-        long startRef = findPolyStart.result.GetNearestRef();
+
-        long endRef = findPolyEnd.result.GetNearestRef();
-        RcVec3f startPos = findPolyStart.result.GetNearestPos();
-        RcVec3f endPos = findPolyEnd.result.GetNearestPos();
         Result<List<long>> path = query.FindPath(startRef, endRef, startPos, endPos, filter);
         int maxStraightPath = 256;
         int options = 0;