update comments

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -154,22 +154,17 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
-        /**
+        /// Returns random location on navmesh within the reach of specified location.
-     * Returns random location on navmesh within the reach of specified location. Polygons are chosen weighted by area.
+        /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
-     * The search runs in linear related to number of polygon. The location is not exactly constrained by the circle,
+        /// The location is not exactly constrained by the circle, but it limits the visited polygons.
-     * but it limits the visited polygons.
+        ///  @param[in]		startRef		The reference id of the polygon where the search starts.
-     *
+        ///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
-     * @param startRef
+        ///  @param[in]		maxRadius		The radius of the search circle. [Units: wu]
-     *            The reference id of the polygon where the search starts.
+        ///  @param[in]		filter			The polygon filter to apply to the query.
-     * @param centerPos
+        ///  @param[in]		frand			Function returning a random number [0..1).
-     *            The center of the search circle. [(x, y, z)]
+        ///  @param[out]	randomRef		The reference id of the random location.
-     * @param maxRadius
+        ///  @param[out]	randomPt		The random location. [(x, y, z)]
-     * @param filter
+        /// @returns The status flags for the query.
-     *            The polygon filter to apply to the query.
-     * @param frand
-     *            Function returning a random number [0..1).
-     * @return Random location
-     */
         public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
             IDtQueryFilter filter, IRcRand frand, out long randomRef, out RcVec3f randomPt)
         {
@@ -197,6 +192,18 @@ namespace DotRecast.Detour
             return FindRandomPointAroundCircle(startRef, centerPos, maxRadius, filter, frand, DtStrictDtPolygonByCircleConstraint.Shared, out randomRef, out randomPt);
         }
 
+        /// Returns random location on navmesh within the reach of specified location.
+        /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
+        /// The location is not exactly constrained by the circle, but it limits the visited polygons.
+        ///  @param[in]		startRef		The reference id of the polygon where the search starts.
+        ///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+        ///  @param[in]		maxRadius		The radius of the search circle. [Units: wu]
+        ///  @param[in]		filter			The polygon filter to apply to the query.
+        ///  @param[in]		frand			Function returning a random number [0..1).
+        ///  @param[in]		constraint      
+        ///  @param[out]	randomRef		The reference id of the random location.
+        ///  @param[out]	randomPt		The random location. [(x, y, z)]
+        /// @returns The status flags for the query.
         public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, float maxRadius,
             IDtQueryFilter filter, IRcRand frand, IDtPolygonByCircleConstraint constraint,
             out long randomRef, out RcVec3f randomPt)
@@ -393,13 +400,13 @@ namespace DotRecast.Detour
         ///
         /// @p pos does not have to be within the bounds of the polygon or navigation mesh.
         ///
-        /// See ClosestPointOnPolyBoundary() for a limited but faster option.
+        /// See closestPointOnPolyBoundary() for a limited but faster option.
         ///
         /// Finds the closest point on the specified polygon.
         ///  @param[in]		ref			The reference id of the polygon.
         ///  @param[in]		pos			The position to check. [(x, y, z)]
-        /// @param[out] closest
+        ///  @param[out]	closest		The closest point on the polygon. [(x, y, z)]
-        /// @param[out] posOverPoly
+        ///  @param[out]	posOverPoly	True of the position is over the polygon.
         /// @returns The status flags for the query.
         public DtStatus ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
         {

src/DotRecast.Recast/RcHeightfieldLayer.cs

@@ -6,48 +6,20 @@ namespace DotRecast.Recast
     /// @see rcHeightfieldLayerSet
     public class RcHeightfieldLayer
     {
-        public RcVec3f bmin = new RcVec3f();
+        public RcVec3f bmin = new RcVec3f(); // < The minimum bounds in world space. [(x, y, z)]
-
+        public RcVec3f bmax = new RcVec3f(); // < The maximum bounds in world space. [(x, y, z)]
-        /// < The minimum bounds in world space. [(x, y, z)]
+        public float cs; // < The size of each cell. (On the xz-plane.)
-        public RcVec3f bmax = new RcVec3f();
+        public float ch; // < The height of each cell. (The minimum increment along the y-axis.)
-
+        public int width; // < The width of the heightfield. (Along the x-axis in cell units.)
-        /// < The maximum bounds in world space. [(x, y, z)]
+        public int height; // < The height of the heightfield. (Along the z-axis in cell units.)
-        public float cs;
+        public int minx; // < The minimum x-bounds of usable data.
-
+        public int maxx; // < The maximum x-bounds of usable data.
-        /// < The size of each cell. (On the xz-plane.)
+        public int miny; // < The minimum y-bounds of usable data. (Along the z-axis.)
-        public float ch;
+        public int maxy; // < The maximum y-bounds of usable data. (Along the z-axis.)
-
+        public int hmin; // < The minimum height bounds of usable data. (Along the y-axis.)
-        /// < The height of each cell. (The minimum increment along the y-axis.)
+        public int hmax; // < The maximum height bounds of usable data. (Along the y-axis.)
-        public int width;
+        public int[] heights; // < The heightfield. [Size: width * height]
-
+        public int[] areas; // < Area ids. [Size: Same as #heights]
-        /// < The width of the heightfield. (Along the x-axis in cell units.)
+        public int[] cons; // < Packed neighbor connection information. [Size: Same as #heights]
-        public int height;
-
-        /// < The height of the heightfield. (Along the z-axis in cell units.)
-        public int minx;
-
-        /// < The minimum x-bounds of usable data.
-        public int maxx;
-
-        /// < The maximum x-bounds of usable data.
-        public int miny;
-
-        /// < The minimum y-bounds of usable data. (Along the z-axis.)
-        public int maxy;
-
-        /// < The maximum y-bounds of usable data. (Along the z-axis.)
-        public int hmin;
-
-        /// < The minimum height bounds of usable data. (Along the y-axis.)
-        public int hmax;
-
-        /// < The maximum height bounds of usable data. (Along the y-axis.)
-        public int[] heights;
-
-        /// < The heightfield. [Size: width * height]
-        public int[] areas;
-
-        /// < Area ids. [Size: Same as #heights]
-        public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights]
     }
 }

src/DotRecast.Recast/RcHeightfieldLayerSet.cs

@@ -18,7 +18,6 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcMeshDetails.cs

@@ -869,9 +869,7 @@ namespace DotRecast.Recast
                     {
                         if (@in[vj + 2] > @in[vi + 2])
                         {
-                            int temp = vi;
+                            (vi, vj) = (vj, vi);
-                            vi = vj;
-                            vj = temp;
                             swapped = true;
                         }
                     }
@@ -879,9 +877,7 @@ namespace DotRecast.Recast
                     {
                         if (@in[vj + 0] > @in[vi + 0])
                         {
-                            int temp = vi;
+                            (vi, vj) = (vj, vi);
-                            vi = vj;
-                            vj = temp;
                             swapped = true;
                         }
                     }

src/DotRecast.Recast/RcPolyMesh.cs

@@ -22,52 +22,26 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    /** Represents a polygon mesh suitable for use in building a navigation mesh. */
+    /// Represents a polygon mesh suitable for use in building a navigation mesh. 
+    /// @ingroup recast
     public class RcPolyMesh
     {
-        /** The mesh vertices. [Form: (x, y, z) coordinates * #nverts] */
+        public int[] verts; // The mesh vertices. [Form: (x, y, z) coordinates * #nverts]
-        public int[] verts;
+        public int[] polys; // Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
+        public int[] regs; // The region id assigned to each polygon. [Length: #maxpolys]
+        public int[] areas; // The area id assigned to each polygon. [Length: #maxpolys]
+        public int nverts; // The number of vertices.
+        public int npolys; // The number of polygons.
+        public int nvp; // The maximum number of vertices per polygon.
+        public int maxpolys; // The number of allocated polygons.
+        public int[] flags; // The user defined flags for each polygon. [Length: #maxpolys]
+        public RcVec3f bmin = new RcVec3f(); // The minimum bounds in world space. [(x, y, z)]
+        public RcVec3f bmax = new RcVec3f(); // The maximum bounds in world space. [(x, y, z)]
 
-        /** Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] */
+        public float cs; // The size of each cell. (On the xz-plane.)
-        public int[] polys;
+        public float ch; // The height of each cell. (The minimum increment along the y-axis.)
 
-        /** The region id assigned to each polygon. [Length: #maxpolys] */
+        public int borderSize; // The AABB border size used to generate the source data from which the mesh was derived.
-        public int[] regs;
+        public float maxEdgeError; // The max error of the polygon edges in the mesh.
-
-        /** The area id assigned to each polygon. [Length: #maxpolys] */
-        public int[] areas;
-
-        /** The number of vertices. */
-        public int nverts;
-
-        /** The number of polygons. */
-        public int npolys;
-
-        /** The maximum number of vertices per polygon. */
-        public int nvp;
-
-        /** The number of allocated polygons. */
-        public int maxpolys;
-
-        /** The user defined flags for each polygon. [Length: #maxpolys] */
-        public int[] flags;
-
-        /** The minimum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmin = new RcVec3f();
-
-        /** The maximum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmax = new RcVec3f();
-
-        /** The size of each cell. (On the xz-plane.) */
-        public float cs;
-
-        /** The height of each cell. (The minimum increment along the y-axis.) */
-        public float ch;
-
-        /** The AABB border size used to generate the source data from which the mesh was derived. */
-        public int borderSize;
-
-        /** The max error of the polygon edges in the mesh. */
-        public float maxEdgeError;
     }
 }

src/DotRecast.Recast/RcPolyMeshDetail.cs

@@ -20,28 +20,16 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /**
+    /// Contains triangle meshes that represent detailed height data associated 
- * Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon
+    /// with the polygons in its associated polygon mesh object.
- * mesh object.
+    /// @ingroup recast
- */
     public class RcPolyMeshDetail
     {
-        /** The sub-mesh data. [Size: 4*#nmeshes] */
+        public int[] meshes; //< The sub-mesh data. [Size: 4*#nmeshes] 
-        public int[] meshes;
+        public float[] verts; //< The mesh vertices. [Size: 3*#nverts] 
-
+        public int[] tris; //< The mesh triangles. [Size: 4*#ntris] 
-        /** The mesh vertices. [Size: 3*#nverts] */
+        public int nmeshes; //< The number of sub-meshes defined by #meshes.
-        public float[] verts;
+        public int nverts; //< The number of vertices in #verts.
-
+        public int ntris; //< The number of triangles in #tris.
-        /** The mesh triangles. [Size: 4*#ntris] */
-        public int[] tris;
-
-        /** The number of sub-meshes defined by #meshes. */
-        public int nmeshes;
-
-        /** The number of vertices in #verts. */
-        public int nverts;
-
-        /** The number of triangles in #tris. */
-        public int ntris;
     }
 }

src/DotRecast.Recast/RcRasterizations.cs

@@ -421,10 +421,10 @@ namespace DotRecast.Recast
         /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
         ///										[Limit: >= 0] [Units: vx]
         /// @returns True if the operation completed successfully.
-        public static void RasterizeTriangles(RcTelemetry ctx, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
+        public static void RasterizeTriangles(RcTelemetry context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
             RcHeightfield heightfield, int flagMergeThreshold)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
@@ -438,28 +438,25 @@ namespace DotRecast.Recast
             }
         }
 
-        /**
+        /// Rasterizes a triangle list into the specified heightfield.
-     * Rasterizes a triangle list into the specified heightfield. Expects each triangle to be specified as three
+        ///
-     * sequential vertices of 3 floats. Spans will only be added for triangles that overlap the heightfield grid.
+        /// Expects each triangle to be specified as three sequential vertices of 3 floats.
-     *
+        ///
-     * @param heightfield
+        /// Spans will only be added for triangles that overlap the heightfield grid.
-     *            An initialized heightfield.
+        /// 
-     * @param verts
+        /// @see rcHeightfield
-     *            The vertices. [(x, y, z) * numVerts]
+        /// @ingroup recast
-     * @param areaIds
+        /// @param[in,out]	context				The build context to use during the operation.
-     *            The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
+        /// @param[in]		verts				The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
-     * @param tris
+        /// @param[in]		triAreaIDs			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
-     *            The triangle indices. [(vertA, vertB, vertC) * nt]
+        /// @param[in]		numTris				The number of triangles.
-     * @param numTris
+        /// @param[in,out]	heightfield			An initialized heightfield.
-     *            The number of triangles.
+        /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
-     * @param flagMergeThreshold
+        /// 									[Limit: >= 0] [Units: vx]
-     *            The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
+        /// @returns True if the operation completed successfully.
-     * @see Heightfield
+        public static void RasterizeTriangles(RcTelemetry context, float[] verts, int[] triAreaIDs, int numTris, RcHeightfield heightfield, int flagMergeThreshold)
-     */
-        public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] areaIds, int numTris,
-            int flagMergeThreshold, RcTelemetry ctx)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
@@ -468,7 +465,7 @@ namespace DotRecast.Recast
                 int v0 = (triIndex * 3 + 0);
                 int v1 = (triIndex * 3 + 1);
                 int v2 = (triIndex * 3 + 2);
-                RasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
+                RasterizeTri(verts, v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
                     inverseCellSize, inverseCellHeight, flagMergeThreshold);
             }
         }