add detail information at DtStatus

src/DotRecast.Detour/DtNavMesh.cs

@@ -1568,31 +1568,31 @@ namespace DotRecast.Detour
         {
             if (refs == 0)
             {
-                return DtStatus.FAILURE;
+                return DtStatus.DT_FAILURE;
             }
 
             DecodePolyId(refs, out var salt, out var it, out var ip);
             if (it >= m_maxTiles)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             DtMeshTile tile = m_tiles[it];
             if (ip >= tile.data.header.polyCount)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             DtPoly poly = tile.data.polys[ip];
 
             // Change flags.
             poly.flags = flags;
-            return DtStatus.SUCCSESS;
+            return DtStatus.DT_SUCCSESS;
         }
 
         public Result<int> GetPolyFlags(long refs)
@@ -1628,31 +1628,31 @@ namespace DotRecast.Detour
         {
             if (refs == 0)
             {
-                return DtStatus.FAILURE;
+                return DtStatus.DT_FAILURE;
             }
 
             DecodePolyId(refs, out var salt, out var it, out var ip);
             if (it >= m_maxTiles)
             {
-                return DtStatus.FAILURE;
+                return DtStatus.DT_FAILURE;
             }
 
             if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             DtMeshTile tile = m_tiles[it];
             if (ip >= tile.data.header.polyCount)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             DtPoly poly = tile.data.polys[ip];
 
             poly.SetArea(area);
 
-            return DtStatus.SUCCSESS;
+            return DtStatus.DT_SUCCSESS;
         }
 
         public Result<int> GetPolyArea(long refs)

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -678,7 +678,7 @@ namespace DotRecast.Detour
         {
             if (!RcVec3f.IsFinite(center) || !RcVec3f.IsFinite(halfExtents) || null == filter)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             // Find tiles the query touches.
@@ -689,7 +689,7 @@ namespace DotRecast.Detour
                 QueryPolygonsInTile(t, bmin, bmax, filter, query);
             }
 
-            return DtStatus.SUCCSESS;
+            return DtStatus.DT_SUCCSESS;
         }
 
         /**
@@ -793,7 +793,7 @@ namespace DotRecast.Detour
             DtNode lastBestNode = startNode;
             float lastBestNodeCost = startNode.total;
 
-            DtStatus status = DtStatus.SUCCSESS;
+            DtStatus status = DtStatus.DT_SUCCSESS;
 
             while (!m_openList.IsEmpty())
             {
@@ -979,7 +979,7 @@ namespace DotRecast.Detour
 
             if (lastBestNode.id != endRef)
             {
-                status = DtStatus.PARTIAL_RESULT;
+                status = DtStatus.DT_PARTIAL_RESULT;
             }
 
             return Results.Of(status, path);
@@ -1022,7 +1022,7 @@ namespace DotRecast.Detour
         {
             // Init path state.
             m_query = new DtQueryData();
-            m_query.status = DtStatus.FAILURE;
+            m_query.status = DtStatus.DT_FAILURE;
             m_query.startRef = startRef;
             m_query.endRef = endRef;
             m_query.startPos = startPos;
@@ -1035,7 +1035,7 @@ namespace DotRecast.Detour
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !m_nav.IsValidPolyRef(endRef) || !RcVec3f.IsFinite(startPos) || !RcVec3f.IsFinite(endPos) || null == filter)
             {
-                return DtStatus.FAILURE_INVALID_PARAM;
+                return DtStatus.DT_INVALID_PARAM;
             }
 
             // trade quality with performance?
@@ -1050,8 +1050,8 @@ namespace DotRecast.Detour
 
             if (startRef == endRef)
             {
-                m_query.status = DtStatus.SUCCSESS;
+                m_query.status = DtStatus.DT_SUCCSESS;
-                return DtStatus.SUCCSESS;
+                return DtStatus.DT_SUCCSESS;
             }
 
             m_nodePool.Clear();
@@ -1066,7 +1066,7 @@ namespace DotRecast.Detour
             startNode.flags = DtNode.DT_NODE_OPEN;
             m_openList.Push(startNode);
 
-            m_query.status = DtStatus.IN_PROGRESS;
+            m_query.status = DtStatus.DT_IN_PROGRESS;
             m_query.lastBestNode = startNode;
             m_query.lastBestNodeCost = startNode.total;
 
@@ -1090,7 +1090,7 @@ namespace DotRecast.Detour
             // Make sure the request is still valid.
             if (!m_nav.IsValidPolyRef(m_query.startRef) || !m_nav.IsValidPolyRef(m_query.endRef))
             {
-                m_query.status = DtStatus.FAILURE;
+                m_query.status = DtStatus.DT_FAILURE;
                 return Results.Of(m_query.status, 0);
             }
 
@@ -1108,7 +1108,7 @@ namespace DotRecast.Detour
                 if (bestNode.id == m_query.endRef)
                 {
                     m_query.lastBestNode = bestNode;
-                    m_query.status = DtStatus.SUCCSESS;
+                    m_query.status = DtStatus.DT_SUCCSESS;
                     return Results.Of(m_query.status, iter);
                 }
 
@@ -1119,7 +1119,7 @@ namespace DotRecast.Detour
                 Result<Tuple<DtMeshTile, DtPoly>> tileAndPoly = m_nav.GetTileAndPolyByRef(bestRef);
                 if (tileAndPoly.Failed())
                 {
-                    m_query.status = DtStatus.FAILURE;
+                    m_query.status = DtStatus.DT_FAILURE;
                     // The polygon has disappeared during the sliced query, fail.
                     return Results.Of(m_query.status, iter);
                 }
@@ -1150,7 +1150,7 @@ namespace DotRecast.Detour
                     {
                         // The polygon has disappeared during the sliced query,
                         // fail.
-                        m_query.status = DtStatus.FAILURE;
+                        m_query.status = DtStatus.DT_FAILURE;
                         return Results.Of(m_query.status, iter);
                     }
 
@@ -1308,7 +1308,7 @@ namespace DotRecast.Detour
             // Exhausted all nodes, but could not find path.
             if (m_openList.IsEmpty())
             {
-                m_query.status = DtStatus.PARTIAL_RESULT;
+                m_query.status = DtStatus.DT_PARTIAL_RESULT;
             }
 
             return Results.Of(m_query.status, iter);
@@ -1338,7 +1338,7 @@ namespace DotRecast.Detour
                 // Reverse the path.
                 if (m_query.lastBestNode.id != m_query.endRef)
                 {
-                    m_query.status = DtStatus.PARTIAL_RESULT;
+                    m_query.status = DtStatus.DT_PARTIAL_RESULT;
                 }
 
                 path = GetPathToNode(m_query.lastBestNode);
@@ -1393,7 +1393,7 @@ namespace DotRecast.Detour
 
                 if (node == null)
                 {
-                    m_query.status = DtStatus.PARTIAL_RESULT;
+                    m_query.status = DtStatus.DT_PARTIAL_RESULT;
                     node = m_query.lastBestNode;
                 }
 
@@ -1427,11 +1427,11 @@ namespace DotRecast.Detour
                 // If reached end of path or there is no space to append more vertices, return.
                 if (flags == DT_STRAIGHTPATH_END || straightPath.Count >= maxStraightPath)
                 {
-                    return DtStatus.SUCCSESS;
+                    return DtStatus.DT_SUCCSESS;
                 }
             }
 
-            return DtStatus.IN_PROGRESS;
+            return DtStatus.DT_IN_PROGRESS;
         }
 
         protected DtStatus AppendPortals(int startIdx, int endIdx, RcVec3f endPos, List<long> path,
@@ -1447,7 +1447,7 @@ namespace DotRecast.Detour
                 Result<Tuple<DtMeshTile, DtPoly>> tileAndPoly = m_nav.GetTileAndPolyByRef(from);
                 if (tileAndPoly.Failed())
                 {
-                    return DtStatus.FAILURE;
+                    return DtStatus.DT_FAILURE;
                 }
 
                 DtMeshTile fromTile = tileAndPoly.result.Item1;
@@ -1457,7 +1457,7 @@ namespace DotRecast.Detour
                 tileAndPoly = m_nav.GetTileAndPolyByRef(to);
                 if (tileAndPoly.Failed())
                 {
-                    return DtStatus.FAILURE;
+                    return DtStatus.DT_FAILURE;
                 }
 
                 DtMeshTile toTile = tileAndPoly.result.Item1;
@@ -1493,7 +1493,7 @@ namespace DotRecast.Detour
                 }
             }
 
-            return DtStatus.IN_PROGRESS;
+            return DtStatus.DT_IN_PROGRESS;
         }
 
         /// @par

src/DotRecast.Detour/DtStatus.cs

@@ -22,15 +22,26 @@ namespace DotRecast.Detour
 {
     public class DtStatus
     {
-        public static readonly DtStatus FAILURE = new DtStatus(0);
+        // High level status.
-        public static readonly DtStatus SUCCSESS = new DtStatus(1);
+        public static readonly DtStatus DT_FAILURE = new DtStatus(1u << 31); // Operation failed. 
-        public static readonly DtStatus IN_PROGRESS = new DtStatus(2);
+        public static readonly DtStatus DT_SUCCSESS = new DtStatus(1u << 30); // Operation succeed. 
-        public static readonly DtStatus PARTIAL_RESULT = new DtStatus(3);
+        public static readonly DtStatus DT_IN_PROGRESS = new DtStatus(1u << 29); // Operation still in progress. 
-        public static readonly DtStatus FAILURE_INVALID_PARAM = new DtStatus(4);
 
-        public readonly int Value;
+        // Detail information for status.
+        public static readonly DtStatus DT_STATUS_DETAIL_MASK = new DtStatus(0x0ffffff);
+        public static readonly DtStatus DT_WRONG_MAGIC = new DtStatus(1 << 0); // Input data is not recognized.
+        public static readonly DtStatus DT_WRONG_VERSION = new DtStatus(1 << 1); // Input data is in wrong version.
+        public static readonly DtStatus DT_OUT_OF_MEMORY = new DtStatus(1 << 2); // Operation ran out of memory.
+        public static readonly DtStatus DT_INVALID_PARAM = new DtStatus(1 << 3); // An input parameter was invalid.
+        public static readonly DtStatus DT_BUFFER_TOO_SMALL = new DtStatus(1 << 4); // Result buffer for the query was too small to store all results.
+        public static readonly DtStatus DT_OUT_OF_NODES = new DtStatus(1 << 5); // Query ran out of nodes during search.
+        public static readonly DtStatus DT_PARTIAL_RESULT = new DtStatus(1 << 6); // Query did not reach the end location, returning best guess. 
+        public static readonly DtStatus DT_ALREADY_OCCUPIED = new DtStatus(1 << 7); // A tile has already been assigned to the given x,y coordinate
 
-        private DtStatus(int value)
+
+        public readonly uint Value;
+
+        private DtStatus(uint value)
         {
             Value = value;
         }

src/DotRecast.Detour/DtStatusExtension.cs

@@ -4,22 +4,22 @@
     {
         public static bool IsSuccess(this DtStatus @this)
         {
-            return @this == DtStatus.SUCCSESS || @this == DtStatus.PARTIAL_RESULT;
+            return @this == DtStatus.DT_SUCCSESS || @this == DtStatus.DT_PARTIAL_RESULT;
         }
         
         public static bool IsFailed(this DtStatus @this)
         {
-            return @this == DtStatus.FAILURE || @this == DtStatus.FAILURE_INVALID_PARAM;
+            return @this == DtStatus.DT_FAILURE || @this == DtStatus.DT_INVALID_PARAM;
         }
 
         public static bool IsInProgress(this DtStatus @this)
         {
-            return @this == DtStatus.IN_PROGRESS;
+            return @this == DtStatus.DT_IN_PROGRESS;
         }
 
         public static bool IsPartial(this DtStatus @this)
         {
-            return @this == DtStatus.PARTIAL_RESULT;
+            return @this == DtStatus.DT_PARTIAL_RESULT;
         }
     }
 }

src/DotRecast.Detour/LegacyNavMeshQuery.cs

@@ -70,7 +70,7 @@ namespace DotRecast.Detour
             DtNode lastBestNode = startNode;
             float lastBestNodeCost = startNode.total;
 
-            DtStatus status = DtStatus.SUCCSESS;
+            DtStatus status = DtStatus.DT_SUCCSESS;
 
             while (!m_openList.IsEmpty())
             {
@@ -215,7 +215,7 @@ namespace DotRecast.Detour
 
             if (lastBestNode.id != endRef)
             {
-                status = DtStatus.PARTIAL_RESULT;
+                status = DtStatus.DT_PARTIAL_RESULT;
             }
 
             return Results.Of(status, path);
@@ -238,7 +238,7 @@ namespace DotRecast.Detour
             // Make sure the request is still valid.
             if (!m_nav.IsValidPolyRef(m_query.startRef) || !m_nav.IsValidPolyRef(m_query.endRef))
             {
-                m_query.status = DtStatus.FAILURE;
+                m_query.status = DtStatus.DT_FAILURE;
                 return Results.Of(m_query.status, 0);
             }
 
@@ -256,7 +256,7 @@ namespace DotRecast.Detour
                 if (bestNode.id == m_query.endRef)
                 {
                     m_query.lastBestNode = bestNode;
-                    m_query.status = DtStatus.SUCCSESS;
+                    m_query.status = DtStatus.DT_SUCCSESS;
                     return Results.Of(m_query.status, iter);
                 }
 
@@ -267,7 +267,7 @@ namespace DotRecast.Detour
                 Result<Tuple<DtMeshTile, DtPoly>> tileAndPoly = m_nav.GetTileAndPolyByRef(bestRef);
                 if (tileAndPoly.Failed())
                 {
-                    m_query.status = DtStatus.FAILURE;
+                    m_query.status = DtStatus.DT_FAILURE;
                     // The polygon has disappeared during the sliced query, fail.
                     return Results.Of(m_query.status, iter);
                 }
@@ -298,7 +298,7 @@ namespace DotRecast.Detour
                     {
                         // The polygon has disappeared during the sliced query,
                         // fail.
-                        m_query.status = DtStatus.FAILURE;
+                        m_query.status = DtStatus.DT_FAILURE;
                         return Results.Of(m_query.status, iter);
                     }
 
@@ -454,7 +454,7 @@ namespace DotRecast.Detour
             // Exhausted all nodes, but could not find path.
             if (m_openList.IsEmpty())
             {
-                m_query.status = DtStatus.PARTIAL_RESULT;
+                m_query.status = DtStatus.DT_PARTIAL_RESULT;
             }
 
             return Results.Of(m_query.status, iter);
@@ -484,7 +484,7 @@ namespace DotRecast.Detour
                 // Reverse the path.
                 if (m_query.lastBestNode.id != m_query.endRef)
                 {
-                    m_query.status = DtStatus.PARTIAL_RESULT;
+                    m_query.status = DtStatus.DT_PARTIAL_RESULT;
                 }
 
                 DtNode prev = null;
@@ -581,7 +581,7 @@ namespace DotRecast.Detour
 
                 if (node == null)
                 {
-                    m_query.status = DtStatus.PARTIAL_RESULT;
+                    m_query.status = DtStatus.DT_PARTIAL_RESULT;
                     node = m_query.lastBestNode;
                 }
 

src/DotRecast.Detour/QueryResults/Result.cs

@@ -24,37 +24,37 @@ namespace DotRecast.Detour.QueryResults
     {
         public static Result<T> Success<T>(T result)
         {
-            return new Result<T>(result, DtStatus.SUCCSESS, null);
+            return new Result<T>(result, DtStatus.DT_SUCCSESS, null);
         }
 
         public static Result<T> Failure<T>()
         {
-            return new Result<T>(default, DtStatus.FAILURE, null);
+            return new Result<T>(default, DtStatus.DT_FAILURE, null);
         }
 
         public static Result<T> InvalidParam<T>()
         {
-            return new Result<T>(default, DtStatus.FAILURE_INVALID_PARAM, null);
+            return new Result<T>(default, DtStatus.DT_INVALID_PARAM, null);
         }
 
         public static Result<T> Failure<T>(string message)
         {
-            return new Result<T>(default, DtStatus.FAILURE, message);
+            return new Result<T>(default, DtStatus.DT_FAILURE, message);
         }
 
         public static Result<T> InvalidParam<T>(string message)
         {
-            return new Result<T>(default, DtStatus.FAILURE_INVALID_PARAM, message);
+            return new Result<T>(default, DtStatus.DT_INVALID_PARAM, message);
         }
 
         public static Result<T> Failure<T>(T result)
         {
-            return new Result<T>(result, DtStatus.FAILURE, null);
+            return new Result<T>(result, DtStatus.DT_FAILURE, null);
         }
 
         public static Result<T> Partial<T>(T result)
         {
-            return new Result<T>(default, DtStatus.PARTIAL_RESULT, null);
+            return new Result<T>(default, DtStatus.DT_PARTIAL_RESULT, null);
         }
 
         public static Result<T> Of<T>(DtStatus status, string message)

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

@@ -40,7 +40,7 @@ public class TestNavmeshTool : ITool
     private float m_neighbourhoodRadius;
     private readonly float[] m_queryPoly = new float[12];
     private List<RcVec3f> m_smoothPath;
-    private DtStatus m_pathFindStatus = DtStatus.FAILURE;
+    private DtStatus m_pathFindStatus = DtStatus.DT_FAILURE;
     private bool enableRaycast = true;
     private readonly List<RcVec3f> randomPoints = new();
     private bool constrainByCircle;
@@ -1011,7 +1011,7 @@ public class TestNavmeshTool : ITool
                     }
                 }
 
-                m_pathFindStatus = DtStatus.FAILURE;
+                m_pathFindStatus = DtStatus.DT_FAILURE;
             }
         }
     }

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

@@ -37,7 +37,7 @@ public class UnityAStarPathfindingImporterTest
         RcVec3f startPos = RcVec3f.Of(8.200293f, 2.155071f, -26.176147f);
         RcVec3f endPos = RcVec3f.Of(11.971109f, 0.000000f, 8.663261f);
         Result<List<long>> path = FindPath(mesh, startPos, endPos);
-        Assert.That(path.status, Is.EqualTo(DtStatus.SUCCSESS));
+        Assert.That(path.status, Is.EqualTo(DtStatus.DT_SUCCSESS));
         Assert.That(path.result.Count, Is.EqualTo(57));
         SaveMesh(mesh, "v4_0_6");
     }

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -28,8 +28,8 @@ public class FindPathTest : AbstractDetourTest
 {
     private static readonly DtStatus[] STATUSES =
     {
-        DtStatus.SUCCSESS, DtStatus.PARTIAL_RESULT, DtStatus.SUCCSESS, DtStatus.SUCCSESS,
+        DtStatus.DT_SUCCSESS, DtStatus.DT_PARTIAL_RESULT, DtStatus.DT_SUCCSESS, DtStatus.DT_SUCCSESS,
-        DtStatus.SUCCSESS
+        DtStatus.DT_SUCCSESS
     };
 
     private static readonly long[][] RESULTS =
@@ -159,8 +159,8 @@ public class FindPathTest : AbstractDetourTest
             var startPos = startPoss[i];
             var endPos = endPoss[i];
             query.InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, DtNavMeshQuery.DT_FINDPATH_ANY_ANGLE);
-            DtStatus status = DtStatus.IN_PROGRESS;
+            DtStatus status = DtStatus.DT_IN_PROGRESS;
-            while (status == DtStatus.IN_PROGRESS)
+            while (status == DtStatus.DT_IN_PROGRESS)
             {
                 Result<int> res = query.UpdateSlicedFindPath(10);
                 status = res.status;

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -26,7 +26,7 @@ namespace DotRecast.Detour.Test;
 [Parallelizable]
 public class TiledFindPathTest
 {
-    private static readonly DtStatus[] STATUSES = { DtStatus.SUCCSESS };
+    private static readonly DtStatus[] STATUSES = { DtStatus.DT_SUCCSESS };
 
     private static readonly long[][] RESULTS =
     {

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

@@ -34,7 +34,7 @@ public class TileCacheNavigationTest : AbstractTileCacheTest
     protected readonly long[] endRefs = { 281474986147841L };
     protected readonly RcVec3f[] startPoss = { RcVec3f.Of(39.447338f, 9.998177f, -0.784811f) };
     protected readonly RcVec3f[] endPoss = { RcVec3f.Of(19.292645f, 11.611748f, -57.750366f) };
-    private readonly DtStatus[] statuses = { DtStatus.SUCCSESS };
+    private readonly DtStatus[] statuses = { DtStatus.DT_SUCCSESS };
 
     private readonly long[][] results =
     {