changed UpdateSlicedFindPath

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -584,7 +584,7 @@ namespace DotRecast.Detour.Crowd
                     // Quick search towards the goal.
                     _navQuery.InitSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
                         _filters[ag.option.queryFilterType], 0);
-                    _navQuery.UpdateSlicedFindPath(_config.maxTargetFindPathIterations);
+                    _navQuery.UpdateSlicedFindPath(_config.maxTargetFindPathIterations, out var _);
                     Result<List<long>> pathFound;
                     if (ag.targetReplan) // && npath > 10)
                     {

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -350,7 +350,7 @@ namespace DotRecast.Detour.Crowd
             }
 
             navquery.InitSlicedFindPath(m_path[0], m_path[m_path.Count - 1], m_pos, m_target, filter, 0);
-            navquery.UpdateSlicedFindPath(maxIterations);
+            navquery.UpdateSlicedFindPath(maxIterations, out var _);
             Result<List<long>> fpr = navquery.FinalizeSlicedFindPathPartial(m_path);
 
             if (fpr.Succeeded() && fpr.result.Count > 0)

src/DotRecast.Detour.Crowd/DtPathQueue.cs

@@ -46,6 +46,7 @@ namespace DotRecast.Detour.Crowd
                 {
                     break;
                 }
+
                 queue.RemoveFirst();
 
                 // Handle query start.
@@ -58,9 +59,8 @@ namespace DotRecast.Detour.Crowd
                 // Handle query in progress.
                 if (q.result.status.InProgress())
                 {
-                    Result<int> res = q.navQuery.UpdateSlicedFindPath(iterCount);
+                    q.result.status = q.navQuery.UpdateSlicedFindPath(iterCount, out var iters);
-                    q.result.status = res.status;
+                    iterCount -= iters;
-                    iterCount -= res.result;
                 }
 
                 if (q.result.status.Succeeded())

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -1101,18 +1101,19 @@ namespace DotRecast.Detour
      *            The maximum number of iterations to perform.
      * @return The status flags for the query.
      */
-        public virtual Result<int> UpdateSlicedFindPath(int maxIter)
+        public virtual DtStatus UpdateSlicedFindPath(int maxIter, out int doneIters)
         {
+            doneIters = 0;
             if (!m_query.status.InProgress())
             {
-                return Results.Of(m_query.status, 0);
+                return m_query.status;
             }
 
             // Make sure the request is still valid.
             if (!m_nav.IsValidPolyRef(m_query.startRef) || !m_nav.IsValidPolyRef(m_query.endRef))
             {
                 m_query.status = DtStatus.DT_FAILURE;
-                return Results.Of(m_query.status, 0);
+                return DtStatus.DT_FAILURE;
             }
 
             int iter = 0;
@@ -1129,8 +1130,10 @@ namespace DotRecast.Detour
                 if (bestNode.id == m_query.endRef)
                 {
                     m_query.lastBestNode = bestNode;
-                    m_query.status = DtStatus.DT_SUCCSESS;
+                    var details = m_query.status & DtStatus.DT_STATUS_DETAIL_MASK;
-                    return Results.Of(m_query.status, iter);
+                    m_query.status = DtStatus.DT_SUCCSESS | details;
+                    doneIters = iter;
+                    return m_query.status;
                 }
 
                 // Get current poly and tile.
@@ -1140,9 +1143,10 @@ namespace DotRecast.Detour
                 var status = m_nav.GetTileAndPolyByRef(bestRef, out var bestTile, out var bestPoly);
                 if (status.Failed())
                 {
-                    m_query.status = DtStatus.DT_FAILURE;
                     // The polygon has disappeared during the sliced query, fail.
-                    return Results.Of(m_query.status, iter);
+                    m_query.status = DtStatus.DT_FAILURE;
+                    doneIters = iter;
+                    return m_query.status;
                 }
 
                 // Get parent and grand parent poly and tile.
@@ -1167,10 +1171,10 @@ namespace DotRecast.Detour
                     invalidParent = status.Failed();
                     if (invalidParent || (grandpaRef != 0 && !m_nav.IsValidPolyRef(grandpaRef)))
                     {
-                        // The polygon has disappeared during the sliced query,
+                        // The polygon has disappeared during the sliced query fail.
-                        // fail.
                         m_query.status = DtStatus.DT_FAILURE;
-                        return Results.Of(m_query.status, iter);
+                        doneIters = iter;
+                        return m_query.status;
                     }
                 }
 
@@ -1236,8 +1240,7 @@ namespace DotRecast.Detour
                     List<long> shortcut = null;
                     if (tryLOS)
                     {
-                        status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
+                        status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter, DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
-                            DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
                         if (status.Succeeded())
                         {
                             foundShortCut = rayHit.t >= 1.0f;
@@ -1251,6 +1254,8 @@ namespace DotRecast.Detour
                         }
                     }
                     
+
+
                     // update move cost
                     if (!foundShortCut)
                     {
@@ -1293,7 +1298,7 @@ namespace DotRecast.Detour
                     // Add or update the node.
                     neighbourNode.pidx = foundShortCut ? bestNode.pidx : m_nodePool.GetNodeIdx(bestNode);
                     neighbourNode.id = neighbourRef;
-                    neighbourNode.flags = (neighbourNode.flags & ~DtNode.DT_NODE_CLOSED);
+                    neighbourNode.flags = (neighbourNode.flags & ~DT_NODE_CLOSED);
                     neighbourNode.cost = cost;
                     neighbourNode.total = total;
                     neighbourNode.pos = neighbourPos;
@@ -1323,10 +1328,12 @@ namespace DotRecast.Detour
             // Exhausted all nodes, but could not find path.
             if (m_openList.IsEmpty())
             {
-                m_query.status = DtStatus.DT_PARTIAL_RESULT;
+                var details = m_query.status & DtStatus.DT_STATUS_DETAIL_MASK;
+                m_query.status = DtStatus.DT_SUCCSESS | details;
             }
 
-            return Results.Of(m_query.status, iter);
+            doneIters = iter;
+            return m_query.status;
         }
 
         /// Finalizes and returns the results of a sliced path query.

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

@@ -977,7 +977,7 @@ public class TestNavmeshTool : IRcTool
             DtNavMeshQuery m_navQuery = _impl.GetSample().GetNavMeshQuery();
             if (m_pathFindStatus.InProgress())
             {
-                m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1).status;
+                m_pathFindStatus = m_navQuery.UpdateSlicedFindPath(1, out var _);
             }
 
             if (m_pathFindStatus.Succeeded())

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -162,8 +162,7 @@ public class FindPathTest : AbstractDetourTest
             DtStatus status = DtStatus.DT_IN_PROGRESS;
             while (status.InProgress())
             {
-                Result<int> res = query.UpdateSlicedFindPath(10);
+                status = query.UpdateSlicedFindPath(10, out var _);
-                status = res.status;
             }
 
             Result<List<long>> path = query.FinalizeSlicedFindPath();