benchmark arrays

- https://github.com/ikpil/DotRecast/pull/54

.github/FUNDING.yml

@@ -0,0 +1,3 @@
+# These are supported funding model platforms
+
+github: ikpil

.github/workflows/dotnet.yml

@@ -28,7 +28,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        dotnet-version: [ '6.x', '7.x', '8.x' ]
+        dotnet-version: [ '6', '7', '8' ]
         os: [ windows-latest, ubuntu-latest, macos-latest ]
 
     steps:
@@ -39,13 +39,13 @@ jobs:
       - name: Setup .NET
         uses: actions/setup-dotnet@v3
         with:
-          dotnet-version: '8.x'
+          dotnet-version: ${{ matrix.dotnet-version }}.x
             
       - name: Restore dependencies
         run: dotnet restore
 
       - name: Build
-        run: dotnet build -c Release --no-restore
+        run: dotnet build -c Release --no-restore --framework net${{ matrix.dotnet-version }}.0
 
       - name: Test
-        run: dotnet test -c Release --no-build --verbosity normal
+        run: dotnet test -c Release --no-build --verbosity normal --framework net${{ matrix.dotnet-version }}.0

BuildingAndIntegrating.md

@@ -0,0 +1,97 @@
+
+## 🔨 Build
+- Building requires only .NET 8 SDK.
+
+### 🔨 Building with Command Prompt
+
+```shell
+dotnet build -c Release
+```
+
+### 🔨 Building with an IDE
+
+1. Open IDE: Launch your C# IDE (e.g., Visual Studio).
+2. Open Solution: Go to the "File" menu and select "Open Solution."
+3. Build: In the IDE menu, select "Build" > "Build Solution" or click the "Build" icon on the toolbar.
+
+## ▶️ Run
+- To verify the run for all modules, run [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj)
+- on windows requirement : install to [Microsoft Visual C++ Redistributable Package](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist) 
+
+### ▶️ Running With Command Prompt
+
+```shell
+dotnet run --project src/DotRecast.Recast.Demo --framework net8.0 -c Release
+```
+
+### ▶️ Running With IDE (ex. Visual Studio 2022 or Rider ...)
+
+1. Open your C# IDE (like Visual Studio).
+2. Go to "File" in the menu.
+3. Choose "Open Project" or "Open Solution."
+4. Find and select [DotRecast.sln](DotRecast.sln), then click "Open."
+5. Run to [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj)
+
+## 🧪 Running Unit Test
+
+- [DotRecast.Core.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Core.Test) : ...
+- [DotRecast.Recast.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Recast.Test) : ...
+- [DotRecast.Detour.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Test) : ...
+- [DotRecast.Detour.TileCache.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.TileCache.Test) : ...
+- [DotRecast.Detour.Crowd.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Crowd.Test) : ...
+- [DotRecast.Detour.Dynamic.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Dynamic.Test) : ...
+- [DotRecast.Detour.Extras.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Extras.Test) : ...
+
+### 🧪 Testing With Command Prompt
+
+```shell
+ dotnet test --framework net8.0 -c Release
+```
+
+### 🧪 Testing With IDE 
+
+- Refer to the manual for your IDE.
+
+## 🛠️ Integration
+
+There are a few ways to integrate [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) and [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) into your project. 
+Source integration is the most popular and most flexible, and is what the project was designed for from the beginning.
+
+### 🛠️ Source Integration
+
+It is recommended to add the source directories 
+[DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core), 
+[DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast),
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour),
+[DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd),
+[DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) 
+and directly into your project depending on which parts of the project you need. 
+
+For example your level building tool could include
+[DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core),
+[DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast),
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) 
+and your game runtime could just include
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour)
+
+- [DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core) : Core Utils
+- [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) : Core navmesh building system.
+- [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) : Runtime navmesh interface and query system.
+- [DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) : Runtime movement, obstacle avoidance, and crowd simulation systems.
+- [DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd) : Runtime navmesh dynamic obstacle and re-baking system.
+- [DotRecast.Detour.Dynamic](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Dynamic) : robust support for dynamic nav meshes combining pre-built voxels with dynamic objects which can be freely added and removed
+- [DotRecast.Detour.Extras](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Extras) : simple tool to import navmeshes created with [A* Pathfinding Project](https://arongranberg.com/astar/)
+
+
+### 🛠️ Installation through Nuget
+
+- Nuget link : [DotRecast.Core](https://www.nuget.org/packages/DotRecast.Core)
+- Nuget link : [DotRecast.Recast](https://www.nuget.org/packages/DotRecast.Recast)
+- Nuget link : [DotRecast.Detour](https://www.nuget.org/packages/DotRecast.Detour)
+- Nuget link : [DotRecast.Detour.TileCache](https://www.nuget.org/packages/DotRecast.Detour.TileCache)
+- Nuget link : [DotRecast.Detour.Crowd](https://www.nuget.org/packages/DotRecast.Detour.Crowd)
+- Nuget link : [DotRecast.Detour.Dynamic](https://www.nuget.org/packages/DotRecast.Detour.Dynamic)
+- Nuget link : [DotRecast.Detour.Extras](https://www.nuget.org/packages/DotRecast.Detour.Extras)
+- Nuget link : [DotRecast.Recast.Toolset](https://www.nuget.org/packages/DotRecast.Recast.Toolset)
+- Nuget link : [DotRecast.Recast.Demo](https://www.nuget.org/packages/DotRecast.Recast.Demo)
+

CHANGELOG.md

@@ -0,0 +1,82 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+## [Unreleased] - yyyy-mm-dd
+
+### Added
+- Added RcCircularBuffer<T> [@ikpil](https://github.com/ikpil)
+- Added struct DtCrowdScopedTimer to avoid allocations in scoped timer calls. [@wrenge](https://github.com/wrenge)
+- Added struct RcScopedTimer to avoid allocations in RcContext scoped timer [@ikpil](https://github.com/ikpil)
+ 
+### Fixed
+
+### Changed
+- Changed DtPathCorridor.Init(int maxPath) function to allow setting the maximum path [@ikpil](https://github.com/ikpil)
+- Changed from List<T> to RcCyclicBuffer in DtCrowdTelemetry execution timing sampling [@wrenge](https://github.com/wrenge)
+- RcCyclicBuffer<T> optimizations [@wrenge](https://github.com/wrenge)
+
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+
+
+## [2024.1.3] - 2024-02-13
+
+### Added
+- Added DtNodeQueue UnitTest [@ikpil](https://github.com/ikpil)
+- Added RcSortedQueue UnitTest [@ikpil](https://github.com/ikpil)
+- Added IComparable interface to RcAtomicLong [@ikpil](https://github.com/ikpil)
+- Added Menu bar in Demo [@ikpil](https://github.com/ikpil)
+ 
+### Fixed
+
+### Changed
+- Update Microsoft.NET.Test.Sdk 17.8.0 to 17.9.0
+- Enhanced ToString method of DtNode to provide more detailed information.
+- Reuse DtNode in DtNodePool
+ 
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+ 
+## [2024.1.2] - 2024-02-04
+
+### Added
+- Added DtNodePool tests [@ikpil](https://github.com/ikpil)
+- Added WangHash() for DtNodePool [@ikpil](https://github.com/ikpil)
+- Added avg, min, max, sampling updated times in CrowdAgentProfilingTool [@ikpil](https://github.com/ikpil)
+ 
+### Fixed
+- Fixed SOH issue in DtNavMeshQuery.Raycast [@ikpil](https://github.com/ikpil)
+- Fixed SOH issue in DtProximityGrid.QueryItems [@ikpil](https://github.com/ikpil)
+
+### Changed
+- Upgrade NUnit.Analyzers 4.0.1
+
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+
+## [2024.1.1] - 2024-01-05
+
+### Fixed
+- Fix typo ([#25](https://github.com/ikpil/DotRecast/pull/25)) [@c0nd3v](https://github.com/c0nd3v)
+- Fix updated struct version ([#23](https://github.com/ikpil/DotRecast/pull/23)) [@c0nd3v](https://github.com/c0nd3v)
+- Allow Radius 0 in Demo ([#22](https://github.com/ikpil/DotRecast/pull/22)) [@c0nd3v](https://github.com/c0nd3v)
+
+### Changed
+- [Upstream] Cleanup filter code and improved documentation ([#30](https://github.com/ikpil/DotRecast/pull/30)) [@ikpil](https://github.com/ikpil)
+- [Upstream] Make detail mesh edge detection more robust ([#26](https://github.com/ikpil/DotRecast/pull/26)) [@ikpil](https://github.com/ikpil)
+- [Upstream] 248275e - Fix: typo error (#153) ([#21](https://github.com/ikpil/DotRecast/pull/21)) [@ikpil](https://github.com/ikpil)
+- Code cleanup and small optimizations in RecastFilter.cpp ([#29](https://github.com/ikpil/DotRecast/pull/29)) [@ikpil](https://github.com/ikpil)
+- Added UI scaling feature based on monitor resolution in Demo ([#28](https://github.com/ikpil/DotRecast/pull/28)) [@ikpil](https://github.com/ikpil)
+

README.md

@@ -1,81 +1,94 @@
-[![License: Zlib](https://img.shields.io/badge/License-Zlib-lightgrey.svg)](https://opensource.org/licenses/Zlib)
+<h1 align="center">DotRecast</h1>
-[![.NET](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml/badge.svg)](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml)
+<p align="center">
-[![CodeQL](https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml/badge.svg?branch=main)](https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml)
+<i>DotRecast is C# Recast & Detour, a port of <a href="https://github.com/recastnavigation/recastnavigation">recastnavigation</a> and <a href="https://github.com/ppiastucki/recast4j">recast4j</a> to the C# language.</i>
-[![NuGet Version and Downloads count](https://buildstats.info/nuget/DotRecast.Core)](https://www.nuget.org/packages/DotRecast.Core)
+</p>
-![Repo Size](https://img.shields.io/github/repo-size/ikpil/DotRecast.svg?colorB=lightgray)
+<p align="center">
-![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast)
+<i>If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.</i>
-[![Visitors](https://api.visitorbadge.io/api/daily?path=https%3A%2F%2Fgithub.com%2Fikpil%2FDotRecast&countColor=%23263759&style=flat-square)](https://visitorbadge.io/status?path=https%3A%2F%2Fgithub.com%2Fikpil%2FDotRecast)
+</p>
 
-# Screenshot
+---
-![screenshot](https://github.com/ikpil/DotRecast/assets/313821/8cf67832-1206-4b58-8c1f-7205210cbf22)
 
-# Introduction
+<p align="center">
-1. DotRecast is a port of C++'s [recastnavigation](https://github.com/recastnavigation/recastnavigation) and Java's [recast4j](https://github.com/ppiastucki/recast4j) to the C# language.
+<img alt="![GitHub License]" src="https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge">
-2. For game development, C# servers, C# project, and Unity3D are supported.
+<img alt="Languages" src="https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge">
-3. DotRecast consists of Recast and Detour, Crowd, Dynamic, Extras, TileCache, DemoTool, Demo
+<img alt="GitHub repo size" src="https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge">
+<a href="https://github.com/ikpil/DotRecast"><img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
+<a href="https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github"></a>
+<a href="https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL"></a>
+<a href="https://github.com/ikpil/DotRecast/commits"><img alt="GitHub commit activity" src="https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
+<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub issues" src="https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11"></a>
+<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub closed issues" src="https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7"></a>
+<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Version" src="https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
+<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Downloads" src="https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
+<a href="https://visitorbadge.io/status?path=ikpil%2FDotRecast"><img alt="Visitors" src="https://api.visitorbadge.io/api/daily?path=ikpil%2FDotRecast&countColor=%23263759"></a>
+<a href="https://github.com/sponsors/ikpil"><img alt="GitHub Sponsors" src="https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil"></a>
+</p>
 
-https://user-images.githubusercontent.com/313821/266782992-32a72a43-8f02-4214-8f1e-86b06952c8b7.mp4
+---
 
-## DotRecast.Recast
+[![demo](https://user-images.githubusercontent.com/313821/266750582-8cf67832-1206-4b58-8c1f-7205210cbf22.gif)](https://youtu.be/zIFIgziKLhQ)
 
-Recast is state of the art navigation mesh construction toolset for games.
 
-Recast is...
-* 🤖 **Automatic** - throw any level geometry at it and you will get a robust navmesh out
-* 🏎️ **Fast** - swift turnaround times for level designers
-* 🧘 **Flexible** - easily customize the navmesh generation and runtime navigation systems to suit your specific game's needs.
 
-Recast constructs a navmesh through a multi-step rasterization process:
+## 🚀 Features
  
-1. First Recast voxelizes the input triangle mesh by rasterizing the triangles into a multi-layer heightfield.
+- 🤖 Automatic - Recast can generate a navmesh from any level geometry you throw at it
-2. Voxels in areas where the character would not be able to move are removed by applying simple voxel data filters.
+- 🏎️ Fast - swift turnaround times for level designers
-3. The walkable areas described by the voxel grid are then divided into sets of 2D polygonal regions.
+- 🧘 Flexible - detailed customization options and modular design let you tailor functionality to your specific needs
-4. The navigation polygons are generated by triangulating and stitching together the generated 2d polygonal regions.
+- 🚫 Dependency-Free - building Recast & Detour only requires a .NET compiler
+- 💪 Industry Standard - Recast powers AI navigation features in Unity, Unreal, Godot, O3DE and countless AAA and indie games and engines
 
-## DotRecast.Detour
+Recast Navigation is divided into multiple modules, each contained in its own folder:
 
-Recast is accompanied by Detour, a path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
+- [DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core) : Core utils
+- [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) : Navmesh generation
+- [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) : Runtime loading of navmesh data, pathfinding, navmesh queries
+- [DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) : Navmesh streaming. Useful for large levels and open-world games
+- [DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd) : Agent movement, collision avoidance, and crowd simulation
+- [DotRecast.Detour.Dynamic](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Dynamic) : robust support for dynamic nav meshes combining pre-built voxels with dynamic objects which can be freely added and removed
+- [DotRecast.Detour.Extras](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Extras) : simple tool to import navmeshes created with [A* Pathfinding Project](https://arongranberg.com/astar/)
+- [DotRecast.Recast.Toolset](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Toolset) : all modules
+- [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo) : Standalone, comprehensive demo app showcasing all aspects of Recast & Detour's functionality
+- [Tests](https://github.com/ikpil/DotRecast/tree/main/test) : Unit tests
 
-Detour offers a simple static navmesh data representation which is suitable for many simple cases.  It also provides a tiled navigation mesh representation, which allows you to stream of navigation data in and out as the player progresses through the world and regenerate sections of the navmesh data as the world changes.
+## ⚡ Getting Started
  
-## DotRecast.Recast.Demo
+- To build or integrate into your own project, please check out [BuildingAndIntegrating.md](https://github.com/ikpil/DotRecast/tree/main/BuildingAndIntegrating.md)
+- To create a NavMesh, please check out [RecastSoloMeshTest.cs](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs)
+- To test pathfinding, please check out [FindPathTest.cs](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Test/FindPathTest.cs)
+- To watch the demo play video, please check out [Demo Video](#-demo-video)
 
-You can find a comprehensive demo project in the `DotRecast.Recast.Demo` folder. It's a kitchen sink demo showcasing all the functionality of the library. If you are new to Recast & Detour, check out [SoloNavMeshBuilder.cs](/src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs) to get started with building navmeshes and [TestNavmeshTool.cs](/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs) to see how Detour can be used to find paths.
+## ⚙ How it Works
 
-### Building DotRecast.Recast.Demo
+Recast constructs a navmesh through a multi-step mesh rasterization process.
 
-1. `DotRecast.Recast.Demo` uses [dotnet 8](https://dotnet.microsoft.com/) to build platform specific projects. Download it and make sure it's available on your path, or specify the path to it.
+1. First Recast rasterizes the input triangle meshes into voxels.
-2. Open a command prompt, point it to a directory and clone DotRecast to it: `git clone https://github.com/ikpil/DotRecast.git`
+2. Voxels in areas where agents would not be able to move are filtered and removed.
-3. Open `<DotRecastDir>\DotRecast.sln` with Visual Studio 2022 and build `DotRecast.Recast.Demo`
+3. The walkable areas described by the voxel grid are then divided into sets of polygonal regions.
-   - Optionally, you can run using the `dotnet run` command with `DotRecast.Recast.Demo.csproj`
+4. The navigation polygons are generated by re-triangulating the generated polygonal regions into a navmesh.
 
-#### Windows
+You can use Recast to build a single navmesh, or a tiled navmesh.
+Single meshes are suitable for many simple, static cases and are easy to work with.
+Tiled navmeshes are more complex to work with but better support larger, more dynamic environments.  Tiled meshes enable advance Detour features like re-baking, heirarchical path-planning, and navmesh data-streaming.
 
-- need to install [microsoft visual c++ redistributable package](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist)
+## 📚 Documentation & Links
 
-#### Linux & macOS & Windows
+- DotRecast Links
+  - [DotRecast/issues](https://github.com/ikpil/DotRecast/issues)
  
-- Navigate to the `DotRecast.Recast.Demo` folder and run `dotnet run`
+- Official Links
+  - [recastnavigation/discussions](https://github.com/recastnavigation/recastnavigation/discussions)
+  - [recastnav.com](https://recastnav.com)
 
-### Running Unit tests
+## 🅾 License
 
-#### With VS2022
+DotRecast is licensed under ZLib license, see [LICENSE.txt](https://github.com/ikpil/DotRecast/tree/main/LICENSE.txt) for more information.
 
-- In Visual Studio 2022 go to the test menu and press `Run All Tests` 
+## 📹 Demo Video
 
-#### With CLI
+[![demo](https://img.youtube.com/vi/zIFIgziKLhQ/0.jpg)](https://youtu.be/zIFIgziKLhQ)
 
-- in the DotRecast folder open a command prompt and run `dotnet test`
+[![demo](https://img.youtube.com/vi/CPvc19gNUEk/0.jpg)](https://youtu.be/CPvc19gNUEk)
 
-## Integrating with your game or engine
+[![demo](https://img.youtube.com/vi/pe5jpGUNPRg/0.jpg)](https://youtu.be/pe5jpGUNPRg)
 
-It is recommended to add the source directories `DotRecast.Core`, `DotRecast.Detour.Crowd`, `DotRecast.Detour.Dynamic`, `DotRecast.Detour.TitleCache`, `DotRecast.Detour.Extras` and `DotRecast.Recast` into your own project depending on which parts of the project you need. For example your level building tool could include `DotRecast.Core`, `DotRecast.Recast`, and `DotRecast.Detour`, and your game runtime could just include `DotRecast.Detour`.
-
-## Discuss
-
-- Discuss Recast & Detour: http://groups.google.com/group/recastnavigation
-- Development blog: http://digestingduck.blogspot.com/
-
-## License
-
-DotRecast is licensed under ZLib license, see [LICENSE.txt](LICENSE.txt) for more information.

src/DotRecast.Core/Buffers/RcCyclicBuffer.cs

@@ -0,0 +1,274 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Net.Security;
+
+namespace DotRecast.Core.Buffers
+{
+    // https://github.com/joaoportela/CircularBuffer-CSharp/blob/master/CircularBuffer/CircularBuffer.cs
+    public class RcCyclicBuffer<T> : IEnumerable<T>
+    {
+        public struct Enumerator : IEnumerator<T>
+        {
+            private readonly RcCyclicBuffer<T> _cb;
+            private int _index;
+            private readonly int _size;
+
+            internal Enumerator(RcCyclicBuffer<T> cb)
+            {
+                _cb = cb;
+                _size = _cb._size;
+                _index = default;
+                Reset();
+            }
+            
+            public bool MoveNext()
+            {
+                return ++_index < _size;
+            }
+
+            public void Reset()
+            {
+                _index = -1;
+            }
+
+            public T Current => _cb[_index];
+
+            object IEnumerator.Current => Current;
+
+            public void Dispose()
+            {
+                // This could be used to unlock write access to collection
+            }
+        }
+        
+        private readonly T[] _buffer;
+
+        private int _start;
+        private int _end;
+        private int _size;
+
+        public RcCyclicBuffer(int capacity)
+            : this(capacity, new T[] { })
+        {
+        }
+
+        public RcCyclicBuffer(int capacity, T[] items)
+        {
+            if (capacity < 1)
+            {
+                throw new ArgumentException("RcCyclicBuffer cannot have negative or zero capacity.", nameof(capacity));
+            }
+
+            if (items == null)
+            {
+                throw new ArgumentNullException(nameof(items));
+            }
+
+            if (items.Length > capacity)
+            {
+                throw new ArgumentException("Too many items to fit RcCyclicBuffer", nameof(items));
+            }
+
+            _buffer = new T[capacity];
+
+            Array.Copy(items, _buffer, items.Length);
+            _size = items.Length;
+
+            _start = 0;
+            _end = _size == capacity ? 0 : _size;
+        }
+
+        public int Capacity => _buffer.Length;
+        public bool IsFull => Size == Capacity;
+        public bool IsEmpty => Size == 0;
+
+        public int Size => _size;
+
+        public T Front()
+        {
+            ThrowIfEmpty();
+            return _buffer[_start];
+        }
+
+        public T Back()
+        {
+            ThrowIfEmpty();
+            return _buffer[(_end != 0 ? _end : Capacity) - 1];
+        }
+
+        public T this[int index]
+        {
+            get
+            {
+                if (IsEmpty)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer is empty");
+                }
+
+                if (index >= _size)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer size is {_size}");
+                }
+
+                int actualIndex = InternalIndex(index);
+                return _buffer[actualIndex];
+            }
+            set
+            {
+                if (IsEmpty)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer is empty");
+                }
+
+                if (index >= _size)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer size is {_size}");
+                }
+
+                int actualIndex = InternalIndex(index);
+                _buffer[actualIndex] = value;
+            }
+        }
+
+        public void PushBack(T item)
+        {
+            if (IsFull)
+            {
+                _buffer[_end] = item;
+                Increment(ref _end);
+                _start = _end;
+            }
+            else
+            {
+                _buffer[_end] = item;
+                Increment(ref _end);
+                ++_size;
+            }
+        }
+
+        public void PushFront(T item)
+        {
+            if (IsFull)
+            {
+                Decrement(ref _start);
+                _end = _start;
+                _buffer[_start] = item;
+            }
+            else
+            {
+                Decrement(ref _start);
+                _buffer[_start] = item;
+                ++_size;
+            }
+        }
+
+        public void PopBack()
+        {
+            ThrowIfEmpty("Cannot take elements from an empty buffer.");
+            Decrement(ref _end);
+            _buffer[_end] = default(T);
+            --_size;
+        }
+
+        public void PopFront()
+        {
+            ThrowIfEmpty("Cannot take elements from an empty buffer.");
+            _buffer[_start] = default(T);
+            Increment(ref _start);
+            --_size;
+        }
+
+        public void Clear()
+        {
+            // to clear we just reset everything.
+            _start = 0;
+            _end = 0;
+            _size = 0;
+            Array.Clear(_buffer, 0, _buffer.Length);
+        }
+
+        public T[] ToArray()
+        {
+            T[] newArray = new T[Size];
+            CopyTo(newArray);
+            return newArray;
+        }
+
+        public void CopyTo(Span<T> destination)
+        {
+            var span1 = ArrayOne();
+            span1.CopyTo(destination);
+            ArrayTwo().CopyTo(destination[span1.Length..]);
+        }
+
+        private void ThrowIfEmpty(string message = "Cannot access an empty buffer.")
+        {
+            if (IsEmpty)
+            {
+                throw new InvalidOperationException(message);
+            }
+        }
+
+        private void Increment(ref int index)
+        {
+            if (++index == Capacity)
+            {
+                index = 0;
+            }
+        }
+
+        private void Decrement(ref int index)
+        {
+            if (index == 0)
+            {
+                index = Capacity;
+            }
+
+            index--;
+        }
+
+        private int InternalIndex(int index)
+        {
+            return _start + (index < (Capacity - _start)
+                ? index
+                : index - Capacity);
+        }
+
+        internal Span<T> ArrayOne()
+        {
+            if (IsEmpty)
+            {
+                return new Span<T>(Array.Empty<T>());
+            }
+
+            if (_start < _end)
+            {
+                return new Span<T>(_buffer, _start, _end - _start);
+            }
+
+            return new Span<T>(_buffer, _start, _buffer.Length - _start);
+        }
+
+        internal Span<T> ArrayTwo()
+        {
+            if (IsEmpty)
+            {
+                return new Span<T>(Array.Empty<T>());
+            }
+
+            if (_start < _end)
+            {
+                return new Span<T>(_buffer, _end, 0);
+            }
+
+            return new Span<T>(_buffer, 0, _end);
+        }
+
+        public Enumerator GetEnumerator() => new Enumerator(this);
+        
+        IEnumerator<T> IEnumerable<T>.GetEnumerator() => GetEnumerator();
+        
+        IEnumerator IEnumerable.GetEnumerator() => GetEnumerator();
+    }
+}

src/DotRecast.Core/Buffers/RcCyclicBuffers.cs

@@ -0,0 +1,119 @@
+using System;
+using System.Numerics;
+using System.Runtime.InteropServices;
+
+namespace DotRecast.Core.Buffers
+{
+    public static class RcCyclicBuffers
+    {
+        public static long Sum(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = 0L;
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecSum = Vector<long>.Zero;
+                foreach (var vec in vectors)
+                    vecSum += vec;
+
+                result = Vector.Dot(vecSum, Vector<long>.One);
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result += val;
+            
+            return result;
+        }
+
+        public static double Average(this ReadOnlySpan<long> source)
+        {
+            if (0 >= source.Length)
+                return 0;
+
+            return source.Sum() / (double)source.Length;
+        }
+        
+        private static long Min(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = long.MaxValue;
+            
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecMin = Vector<long>.One * result;
+                
+                foreach (var vec in vectors)
+                    vecMin = Vector.Min(vecMin, vec);
+
+                for (int i = 0; i < Vector<long>.Count; i++)
+                    result = Math.Min(result, vecMin[i]);
+                
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result = Math.Min(result, val);
+
+            return result;
+        }
+        
+        private static long Max(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = long.MinValue;
+            
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecMax = Vector<long>.One * result;
+                
+                foreach (var vec in vectors)
+                    vecMax = Vector.Max(vecMax, vec);
+
+                for (int i = 0; i < Vector<long>.Count; i++)
+                    result = Math.Max(result, vecMax[i]);
+                
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result = Math.Max(result, val);
+
+            return result;
+        }
+
+        public static long Sum(this RcCyclicBuffer<long> source)
+        {
+            return Sum(source.ArrayOne()) + Sum(source.ArrayTwo());
+        }
+
+        public static double Average(this RcCyclicBuffer<long> source)
+        {
+            return Sum(source) / (double)source.Size;
+        }
+
+        public static long Min(this RcCyclicBuffer<long> source)
+        {
+            var firstHalf = source.ArrayOne();
+            var secondHalf = source.ArrayTwo();
+            var a = firstHalf.Length > 0 ? Min(firstHalf) : long.MaxValue;
+            var b = secondHalf.Length > 0 ? Min(secondHalf) : long.MaxValue;
+            return Math.Min(a, b);
+        }
+
+        public static long Max(this RcCyclicBuffer<long> source)
+        {
+            var firstHalf = source.ArrayOne();
+            var secondHalf = source.ArrayTwo();
+            var a = firstHalf.Length > 0 ? Max(firstHalf) : long.MinValue;
+            var b = secondHalf.Length > 0 ? Max(secondHalf) : long.MinValue;
+            return Math.Max(a, b);
+        }
+    }
+}

src/DotRecast.Core/Buffers/RcRentedArray.cs

@@ -0,0 +1,57 @@
+using System;
+using System.Buffers;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Buffers
+{
+    public static class RcRentedArray
+    {
+        public static RcRentedArray<T> Rent<T>(int minimumLength)
+        {
+            var array = ArrayPool<T>.Shared.Rent(minimumLength);
+            return new RcRentedArray<T>(ArrayPool<T>.Shared, array, minimumLength);
+        }
+    }
+
+    public class RcRentedArray<T> : IDisposable
+    {
+        private ArrayPool<T> _owner;
+        private T[] _array;
+
+        public int Length { get; }
+        public bool IsDisposed => null == _owner || null == _array;
+
+        internal RcRentedArray(ArrayPool<T> owner, T[] array, int length)
+        {
+            _owner = owner;
+            _array = array;
+            Length = length;
+        }
+
+        public ref T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+                return ref _array[index];
+            }
+        }
+
+        public T[] AsArray()
+        {
+            return _array;
+        }
+
+
+        public void Dispose()
+        {
+            if (null != _owner && null != _array)
+            {
+                _owner.Return(_array, true);
+                _owner = null;
+                _array = null;
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcSortedQueue.cs

@@ -27,12 +27,12 @@ namespace DotRecast.Core.Collections
     {
         private bool _dirty;
         private readonly List<T> _items;
-        private readonly Comparison<T> _comparison;
+        private readonly Comparer<T> _comparer;
 
-        public RcSortedQueue(Comparison<T> comparison)
+        public RcSortedQueue(Comparison<T> comp)
         {
             _items = new List<T>();
-            _comparison = (x, y) => comparison.Invoke(x, y) * -1; // reverse
+            _comparer = Comparer<T>.Create((x, y) => comp.Invoke(x, y) * -1);
         }
 
         public int Count()
@@ -40,16 +40,22 @@ namespace DotRecast.Core.Collections
             return _items.Count;
         }
 
+        public bool IsEmpty()
+        {
+            return 0 == _items.Count;
+        }
+
         public void Clear()
         {
             _items.Clear();
+            _dirty = false;
         }
 
         private void Balance()
         {
             if (_dirty)
             {
-                _items.Sort(_comparison); // reverse
+                _items.Sort(_comparer); // reverse
                 _dirty = false;
             }
         }
@@ -57,35 +63,39 @@ namespace DotRecast.Core.Collections
         public T Peek()
         {
             Balance();
-            return _items[_items.Count - 1];
+            return _items[^1];
         }
 
         public T Dequeue()
         {
             var node = Peek();
-            _items.Remove(node);
+            _items.RemoveAt(_items.Count - 1);
             return node;
         }
 
         public void Enqueue(T item)
         {
+            if (null == item)
+                return;
+
             _items.Add(item);
             _dirty = true;
         }
 
-        public void Remove(T item)
+        public bool Remove(T item)
         {
+            if (null == item)
+                return false;
+
+            //int idx = _items.BinarySearch(item, _comparer); // don't use this! Because reference types can be reused externally.
             int idx = _items.FindLastIndex(x => item.Equals(x));
             if (0 > idx)
-                return;
+                return false;
 
             _items.RemoveAt(idx);
+            return true;
         }
 
-        public bool IsEmpty()
-        {
-            return 0 == _items.Count;
-        }
 
         public List<T> ToList()
         {

src/DotRecast.Core/Collections/RcStackArray128.cs

@@ -0,0 +1,421 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray128<T>
+    {
+        public static RcStackArray128<T> Empty => new RcStackArray128<T>();
+
+        private const int Size = 128;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+        public T V64;
+        public T V65;
+        public T V66;
+        public T V67;
+        public T V68;
+        public T V69;
+        public T V70;
+        public T V71;
+        public T V72;
+        public T V73;
+        public T V74;
+        public T V75;
+        public T V76;
+        public T V77;
+        public T V78;
+        public T V79;
+        public T V80;
+        public T V81;
+        public T V82;
+        public T V83;
+        public T V84;
+        public T V85;
+        public T V86;
+        public T V87;
+        public T V88;
+        public T V89;
+        public T V90;
+        public T V91;
+        public T V92;
+        public T V93;
+        public T V94;
+        public T V95;
+        public T V96;
+        public T V97;
+        public T V98;
+        public T V99;
+        public T V100;
+        public T V101;
+        public T V102;
+        public T V103;
+        public T V104;
+        public T V105;
+        public T V106;
+        public T V107;
+        public T V108;
+        public T V109;
+        public T V110;
+        public T V111;
+        public T V112;
+        public T V113;
+        public T V114;
+        public T V115;
+        public T V116;
+        public T V117;
+        public T V118;
+        public T V119;
+        public T V120;
+        public T V121;
+        public T V122;
+        public T V123;
+        public T V124;
+        public T V125;
+        public T V126;
+        public T V127;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    64 => V64,
+                    65 => V65,
+                    66 => V66,
+                    67 => V67,
+                    68 => V68,
+                    69 => V69,
+                    70 => V70,
+                    71 => V71,
+                    72 => V72,
+                    73 => V73,
+                    74 => V74,
+                    75 => V75,
+                    76 => V76,
+                    77 => V77,
+                    78 => V78,
+                    79 => V79,
+                    80 => V80,
+                    81 => V81,
+                    82 => V82,
+                    83 => V83,
+                    84 => V84,
+                    85 => V85,
+                    86 => V86,
+                    87 => V87,
+                    88 => V88,
+                    89 => V89,
+                    90 => V90,
+                    91 => V91,
+                    92 => V92,
+                    93 => V93,
+                    94 => V94,
+                    95 => V95,
+                    96 => V96,
+                    97 => V97,
+                    98 => V98,
+                    99 => V99,
+                    100 => V100,
+                    101 => V101,
+                    102 => V102,
+                    103 => V103,
+                    104 => V104,
+                    105 => V105,
+                    106 => V106,
+                    107 => V107,
+                    108 => V108,
+                    109 => V109,
+                    110 => V110,
+                    111 => V111,
+                    112 => V112,
+                    113 => V113,
+                    114 => V114,
+                    115 => V115,
+                    116 => V116,
+                    117 => V117,
+                    118 => V118,
+                    119 => V119,
+                    120 => V120,
+                    121 => V121,
+                    122 => V122,
+                    123 => V123,
+                    124 => V124,
+                    125 => V125,
+                    126 => V126,
+                    127 => V127,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32 : V32 = value; break;
+                    case 33 : V33 = value; break;
+                    case 34 : V34 = value; break;
+                    case 35 : V35 = value; break;
+                    case 36 : V36 = value; break;
+                    case 37 : V37 = value; break;
+                    case 38 : V38 = value; break;
+                    case 39 : V39 = value; break;
+                    case 40 : V40 = value; break;
+                    case 41 : V41 = value; break;
+                    case 42 : V42 = value; break;
+                    case 43 : V43 = value; break;
+                    case 44 : V44 = value; break;
+                    case 45 : V45 = value; break;
+                    case 46 : V46 = value; break;
+                    case 47 : V47 = value; break;
+                    case 48 : V48 = value; break;
+                    case 49 : V49 = value; break;
+                    case 50 : V50 = value; break;
+                    case 51 : V51 = value; break;
+                    case 52 : V52 = value; break;
+                    case 53 : V53 = value; break;
+                    case 54 : V54 = value; break;
+                    case 55 : V55 = value; break;
+                    case 56 : V56 = value; break;
+                    case 57 : V57 = value; break;
+                    case 58 : V58 = value; break;
+                    case 59 : V59 = value; break;
+                    case 60 : V60 = value; break;
+                    case 61 : V61 = value; break;
+                    case 62 : V62 = value; break;
+                    case 63 : V63 = value; break;
+                    case 64 : V64 = value; break;
+                    case 65 : V65 = value; break;
+                    case 66 : V66 = value; break;
+                    case 67 : V67 = value; break;
+                    case 68 : V68 = value; break;
+                    case 69 : V69 = value; break;
+                    case 70 : V70 = value; break;
+                    case 71 : V71 = value; break;
+                    case 72 : V72 = value; break;
+                    case 73 : V73 = value; break;
+                    case 74 : V74 = value; break;
+                    case 75 : V75 = value; break;
+                    case 76 : V76 = value; break;
+                    case 77 : V77 = value; break;
+                    case 78 : V78 = value; break;
+                    case 79 : V79 = value; break;
+                    case 80 : V80 = value; break;
+                    case 81 : V81 = value; break;
+                    case 82 : V82 = value; break;
+                    case 83 : V83 = value; break;
+                    case 84 : V84 = value; break;
+                    case 85 : V85 = value; break;
+                    case 86 : V86 = value; break;
+                    case 87 : V87 = value; break;
+                    case 88 : V88 = value; break;
+                    case 89 : V89 = value; break;
+                    case 90 : V90 = value; break;
+                    case 91 : V91 = value; break;
+                    case 92 : V92 = value; break;
+                    case 93 : V93 = value; break;
+                    case 94 : V94 = value; break;
+                    case 95 : V95 = value; break;
+                    case 96 : V96 = value; break;
+                    case 97 : V97 = value; break;
+                    case 98 : V98 = value; break;
+                    case 99 : V99 = value; break;
+                    case 100 : V100 = value; break;
+                    case 101 : V101 = value; break;
+                    case 102 : V102 = value; break;
+                    case 103 : V103 = value; break;
+                    case 104 : V104 = value; break;
+                    case 105 : V105 = value; break;
+                    case 106 : V106 = value; break;
+                    case 107 : V107 = value; break;
+                    case 108 : V108 = value; break;
+                    case 109 : V109 = value; break;
+                    case 110 : V110 = value; break;
+                    case 111 : V111 = value; break;
+                    case 112 : V112 = value; break;
+                    case 113 : V113 = value; break;
+                    case 114 : V114 = value; break;
+                    case 115 : V115 = value; break;
+                    case 116 : V116 = value; break;
+                    case 117 : V117 = value; break;
+                    case 118 : V118 = value; break;
+                    case 119 : V119 = value; break;
+                    case 120 : V120 = value; break;
+                    case 121 : V121 = value; break;
+                    case 122 : V122 = value; break;
+                    case 123 : V123 = value; break;
+                    case 124 : V124 = value; break;
+                    case 125 : V125 = value; break;
+                    case 126 : V126 = value; break;
+                    case 127 : V127 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray16.cs

@@ -0,0 +1,85 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray16<T>
+    {
+        public static RcStackArray16<T> Empty => new RcStackArray16<T>();
+
+        private const int Size = 16;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray2.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray2<T>
+    {
+        public static RcStackArray2<T> Empty => new RcStackArray2<T>();
+
+        private const int Size = 2;
+        public int Length => Size;
+
+        public T V0;
+        public T V1;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray256.cs

@@ -0,0 +1,805 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray256<T>
+    {
+        public static RcStackArray256<T> Empty => new RcStackArray256<T>();
+
+        private const int Size = 256;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+        public T V64;
+        public T V65;
+        public T V66;
+        public T V67;
+        public T V68;
+        public T V69;
+        public T V70;
+        public T V71;
+        public T V72;
+        public T V73;
+        public T V74;
+        public T V75;
+        public T V76;
+        public T V77;
+        public T V78;
+        public T V79;
+        public T V80;
+        public T V81;
+        public T V82;
+        public T V83;
+        public T V84;
+        public T V85;
+        public T V86;
+        public T V87;
+        public T V88;
+        public T V89;
+        public T V90;
+        public T V91;
+        public T V92;
+        public T V93;
+        public T V94;
+        public T V95;
+        public T V96;
+        public T V97;
+        public T V98;
+        public T V99;
+        public T V100;
+        public T V101;
+        public T V102;
+        public T V103;
+        public T V104;
+        public T V105;
+        public T V106;
+        public T V107;
+        public T V108;
+        public T V109;
+        public T V110;
+        public T V111;
+        public T V112;
+        public T V113;
+        public T V114;
+        public T V115;
+        public T V116;
+        public T V117;
+        public T V118;
+        public T V119;
+        public T V120;
+        public T V121;
+        public T V122;
+        public T V123;
+        public T V124;
+        public T V125;
+        public T V126;
+        public T V127;
+        public T V128;
+        public T V129;
+        public T V130;
+        public T V131;
+        public T V132;
+        public T V133;
+        public T V134;
+        public T V135;
+        public T V136;
+        public T V137;
+        public T V138;
+        public T V139;
+        public T V140;
+        public T V141;
+        public T V142;
+        public T V143;
+        public T V144;
+        public T V145;
+        public T V146;
+        public T V147;
+        public T V148;
+        public T V149;
+        public T V150;
+        public T V151;
+        public T V152;
+        public T V153;
+        public T V154;
+        public T V155;
+        public T V156;
+        public T V157;
+        public T V158;
+        public T V159;
+        public T V160;
+        public T V161;
+        public T V162;
+        public T V163;
+        public T V164;
+        public T V165;
+        public T V166;
+        public T V167;
+        public T V168;
+        public T V169;
+        public T V170;
+        public T V171;
+        public T V172;
+        public T V173;
+        public T V174;
+        public T V175;
+        public T V176;
+        public T V177;
+        public T V178;
+        public T V179;
+        public T V180;
+        public T V181;
+        public T V182;
+        public T V183;
+        public T V184;
+        public T V185;
+        public T V186;
+        public T V187;
+        public T V188;
+        public T V189;
+        public T V190;
+        public T V191;
+        public T V192;
+        public T V193;
+        public T V194;
+        public T V195;
+        public T V196;
+        public T V197;
+        public T V198;
+        public T V199;
+        public T V200;
+        public T V201;
+        public T V202;
+        public T V203;
+        public T V204;
+        public T V205;
+        public T V206;
+        public T V207;
+        public T V208;
+        public T V209;
+        public T V210;
+        public T V211;
+        public T V212;
+        public T V213;
+        public T V214;
+        public T V215;
+        public T V216;
+        public T V217;
+        public T V218;
+        public T V219;
+        public T V220;
+        public T V221;
+        public T V222;
+        public T V223;
+        public T V224;
+        public T V225;
+        public T V226;
+        public T V227;
+        public T V228;
+        public T V229;
+        public T V230;
+        public T V231;
+        public T V232;
+        public T V233;
+        public T V234;
+        public T V235;
+        public T V236;
+        public T V237;
+        public T V238;
+        public T V239;
+        public T V240;
+        public T V241;
+        public T V242;
+        public T V243;
+        public T V244;
+        public T V245;
+        public T V246;
+        public T V247;
+        public T V248;
+        public T V249;
+        public T V250;
+        public T V251;
+        public T V252;
+        public T V253;
+        public T V254;
+        public T V255;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    64 => V64,
+                    65 => V65,
+                    66 => V66,
+                    67 => V67,
+                    68 => V68,
+                    69 => V69,
+                    70 => V70,
+                    71 => V71,
+                    72 => V72,
+                    73 => V73,
+                    74 => V74,
+                    75 => V75,
+                    76 => V76,
+                    77 => V77,
+                    78 => V78,
+                    79 => V79,
+                    80 => V80,
+                    81 => V81,
+                    82 => V82,
+                    83 => V83,
+                    84 => V84,
+                    85 => V85,
+                    86 => V86,
+                    87 => V87,
+                    88 => V88,
+                    89 => V89,
+                    90 => V90,
+                    91 => V91,
+                    92 => V92,
+                    93 => V93,
+                    94 => V94,
+                    95 => V95,
+                    96 => V96,
+                    97 => V97,
+                    98 => V98,
+                    99 => V99,
+                    100 => V100,
+                    101 => V101,
+                    102 => V102,
+                    103 => V103,
+                    104 => V104,
+                    105 => V105,
+                    106 => V106,
+                    107 => V107,
+                    108 => V108,
+                    109 => V109,
+                    110 => V110,
+                    111 => V111,
+                    112 => V112,
+                    113 => V113,
+                    114 => V114,
+                    115 => V115,
+                    116 => V116,
+                    117 => V117,
+                    118 => V118,
+                    119 => V119,
+                    120 => V120,
+                    121 => V121,
+                    122 => V122,
+                    123 => V123,
+                    124 => V124,
+                    125 => V125,
+                    126 => V126,
+                    127 => V127,
+                    128 => V128,
+                    129 => V129,
+                    130 => V130,
+                    131 => V131,
+                    132 => V132,
+                    133 => V133,
+                    134 => V134,
+                    135 => V135,
+                    136 => V136,
+                    137 => V137,
+                    138 => V138,
+                    139 => V139,
+                    140 => V140,
+                    141 => V141,
+                    142 => V142,
+                    143 => V143,
+                    144 => V144,
+                    145 => V145,
+                    146 => V146,
+                    147 => V147,
+                    148 => V148,
+                    149 => V149,
+                    150 => V150,
+                    151 => V151,
+                    152 => V152,
+                    153 => V153,
+                    154 => V154,
+                    155 => V155,
+                    156 => V156,
+                    157 => V157,
+                    158 => V158,
+                    159 => V159,
+                    160 => V160,
+                    161 => V161,
+                    162 => V162,
+                    163 => V163,
+                    164 => V164,
+                    165 => V165,
+                    166 => V166,
+                    167 => V167,
+                    168 => V168,
+                    169 => V169,
+                    170 => V170,
+                    171 => V171,
+                    172 => V172,
+                    173 => V173,
+                    174 => V174,
+                    175 => V175,
+                    176 => V176,
+                    177 => V177,
+                    178 => V178,
+                    179 => V179,
+                    180 => V180,
+                    181 => V181,
+                    182 => V182,
+                    183 => V183,
+                    184 => V184,
+                    185 => V185,
+                    186 => V186,
+                    187 => V187,
+                    188 => V188,
+                    189 => V189,
+                    190 => V190,
+                    191 => V191,
+                    192 => V192,
+                    193 => V193,
+                    194 => V194,
+                    195 => V195,
+                    196 => V196,
+                    197 => V197,
+                    198 => V198,
+                    199 => V199,
+                    200 => V200,
+                    201 => V201,
+                    202 => V202,
+                    203 => V203,
+                    204 => V204,
+                    205 => V205,
+                    206 => V206,
+                    207 => V207,
+                    208 => V208,
+                    209 => V209,
+                    210 => V210,
+                    211 => V211,
+                    212 => V212,
+                    213 => V213,
+                    214 => V214,
+                    215 => V215,
+                    216 => V216,
+                    217 => V217,
+                    218 => V218,
+                    219 => V219,
+                    220 => V220,
+                    221 => V221,
+                    222 => V222,
+                    223 => V223,
+                    224 => V224,
+                    225 => V225,
+                    226 => V226,
+                    227 => V227,
+                    228 => V228,
+                    229 => V229,
+                    230 => V230,
+                    231 => V231,
+                    232 => V232,
+                    233 => V233,
+                    234 => V234,
+                    235 => V235,
+                    236 => V236,
+                    237 => V237,
+                    238 => V238,
+                    239 => V239,
+                    240 => V240,
+                    241 => V241,
+                    242 => V242,
+                    243 => V243,
+                    244 => V244,
+                    245 => V245,
+                    246 => V246,
+                    247 => V247,
+                    248 => V248,
+                    249 => V249,
+                    250 => V250,
+                    251 => V251,
+                    252 => V252,
+                    253 => V253,
+                    254 => V254,
+                    255 => V255,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32: V32 = value; break;
+                    case 33: V33 = value; break;
+                    case 34: V34 = value; break;
+                    case 35: V35 = value; break;
+                    case 36: V36 = value; break;
+                    case 37: V37 = value; break;
+                    case 38: V38 = value; break;
+                    case 39: V39 = value; break;
+                    case 40: V40 = value; break;
+                    case 41: V41 = value; break;
+                    case 42: V42 = value; break;
+                    case 43: V43 = value; break;
+                    case 44: V44 = value; break;
+                    case 45: V45 = value; break;
+                    case 46: V46 = value; break;
+                    case 47: V47 = value; break;
+                    case 48: V48 = value; break;
+                    case 49: V49 = value; break;
+                    case 50: V50 = value; break;
+                    case 51: V51 = value; break;
+                    case 52: V52 = value; break;
+                    case 53: V53 = value; break;
+                    case 54: V54 = value; break;
+                    case 55: V55 = value; break;
+                    case 56: V56 = value; break;
+                    case 57: V57 = value; break;
+                    case 58: V58 = value; break;
+                    case 59: V59 = value; break;
+                    case 60: V60 = value; break;
+                    case 61: V61 = value; break;
+                    case 62: V62 = value; break;
+                    case 63: V63 = value; break;
+                    case 64: V64 = value; break;
+                    case 65: V65 = value; break;
+                    case 66: V66 = value; break;
+                    case 67: V67 = value; break;
+                    case 68: V68 = value; break;
+                    case 69: V69 = value; break;
+                    case 70: V70 = value; break;
+                    case 71: V71 = value; break;
+                    case 72: V72 = value; break;
+                    case 73: V73 = value; break;
+                    case 74: V74 = value; break;
+                    case 75: V75 = value; break;
+                    case 76: V76 = value; break;
+                    case 77: V77 = value; break;
+                    case 78: V78 = value; break;
+                    case 79: V79 = value; break;
+                    case 80: V80 = value; break;
+                    case 81: V81 = value; break;
+                    case 82: V82 = value; break;
+                    case 83: V83 = value; break;
+                    case 84: V84 = value; break;
+                    case 85: V85 = value; break;
+                    case 86: V86 = value; break;
+                    case 87: V87 = value; break;
+                    case 88: V88 = value; break;
+                    case 89: V89 = value; break;
+                    case 90: V90 = value; break;
+                    case 91: V91 = value; break;
+                    case 92: V92 = value; break;
+                    case 93: V93 = value; break;
+                    case 94: V94 = value; break;
+                    case 95: V95 = value; break;
+                    case 96: V96 = value; break;
+                    case 97: V97 = value; break;
+                    case 98: V98 = value; break;
+                    case 99: V99 = value; break;
+                    case 100: V100 = value; break;
+                    case 101: V101 = value; break;
+                    case 102: V102 = value; break;
+                    case 103: V103 = value; break;
+                    case 104: V104 = value; break;
+                    case 105: V105 = value; break;
+                    case 106: V106 = value; break;
+                    case 107: V107 = value; break;
+                    case 108: V108 = value; break;
+                    case 109: V109 = value; break;
+                    case 110: V110 = value; break;
+                    case 111: V111 = value; break;
+                    case 112: V112 = value; break;
+                    case 113: V113 = value; break;
+                    case 114: V114 = value; break;
+                    case 115: V115 = value; break;
+                    case 116: V116 = value; break;
+                    case 117: V117 = value; break;
+                    case 118: V118 = value; break;
+                    case 119: V119 = value; break;
+                    case 120: V120 = value; break;
+                    case 121: V121 = value; break;
+                    case 122: V122 = value; break;
+                    case 123: V123 = value; break;
+                    case 124: V124 = value; break;
+                    case 125: V125 = value; break;
+                    case 126: V126 = value; break;
+                    case 127: V127 = value; break;
+                    case 128: V128 = value; break;
+                    case 129: V129 = value; break;
+                    case 130: V130 = value; break;
+                    case 131: V131 = value; break;
+                    case 132: V132 = value; break;
+                    case 133: V133 = value; break;
+                    case 134: V134 = value; break;
+                    case 135: V135 = value; break;
+                    case 136: V136 = value; break;
+                    case 137: V137 = value; break;
+                    case 138: V138 = value; break;
+                    case 139: V139 = value; break;
+                    case 140: V140 = value; break;
+                    case 141: V141 = value; break;
+                    case 142: V142 = value; break;
+                    case 143: V143 = value; break;
+                    case 144: V144 = value; break;
+                    case 145: V145 = value; break;
+                    case 146: V146 = value; break;
+                    case 147: V147 = value; break;
+                    case 148: V148 = value; break;
+                    case 149: V149 = value; break;
+                    case 150: V150 = value; break;
+                    case 151: V151 = value; break;
+                    case 152: V152 = value; break;
+                    case 153: V153 = value; break;
+                    case 154: V154 = value; break;
+                    case 155: V155 = value; break;
+                    case 156: V156 = value; break;
+                    case 157: V157 = value; break;
+                    case 158: V158 = value; break;
+                    case 159: V159 = value; break;
+                    case 160: V160 = value; break;
+                    case 161: V161 = value; break;
+                    case 162: V162 = value; break;
+                    case 163: V163 = value; break;
+                    case 164: V164 = value; break;
+                    case 165: V165 = value; break;
+                    case 166: V166 = value; break;
+                    case 167: V167 = value; break;
+                    case 168: V168 = value; break;
+                    case 169: V169 = value; break;
+                    case 170: V170 = value; break;
+                    case 171: V171 = value; break;
+                    case 172: V172 = value; break;
+                    case 173: V173 = value; break;
+                    case 174: V174 = value; break;
+                    case 175: V175 = value; break;
+                    case 176: V176 = value; break;
+                    case 177: V177 = value; break;
+                    case 178: V178 = value; break;
+                    case 179: V179 = value; break;
+                    case 180: V180 = value; break;
+                    case 181: V181 = value; break;
+                    case 182: V182 = value; break;
+                    case 183: V183 = value; break;
+                    case 184: V184 = value; break;
+                    case 185: V185 = value; break;
+                    case 186: V186 = value; break;
+                    case 187: V187 = value; break;
+                    case 188: V188 = value; break;
+                    case 189: V189 = value; break;
+                    case 190: V190 = value; break;
+                    case 191: V191 = value; break;
+                    case 192: V192 = value; break;
+                    case 193: V193 = value; break;
+                    case 194: V194 = value; break;
+                    case 195: V195 = value; break;
+                    case 196: V196 = value; break;
+                    case 197: V197 = value; break;
+                    case 198: V198 = value; break;
+                    case 199: V199 = value; break;
+                    case 200: V200 = value; break;
+                    case 201: V201 = value; break;
+                    case 202: V202 = value; break;
+                    case 203: V203 = value; break;
+                    case 204: V204 = value; break;
+                    case 205: V205 = value; break;
+                    case 206: V206 = value; break;
+                    case 207: V207 = value; break;
+                    case 208: V208 = value; break;
+                    case 209: V209 = value; break;
+                    case 210: V210 = value; break;
+                    case 211: V211 = value; break;
+                    case 212: V212 = value; break;
+                    case 213: V213 = value; break;
+                    case 214: V214 = value; break;
+                    case 215: V215 = value; break;
+                    case 216: V216 = value; break;
+                    case 217: V217 = value; break;
+                    case 218: V218 = value; break;
+                    case 219: V219 = value; break;
+                    case 220: V220 = value; break;
+                    case 221: V221 = value; break;
+                    case 222: V222 = value; break;
+                    case 223: V223 = value; break;
+                    case 224: V224 = value; break;
+                    case 225: V225 = value; break;
+                    case 226: V226 = value; break;
+                    case 227: V227 = value; break;
+                    case 228: V228 = value; break;
+                    case 229: V229 = value; break;
+                    case 230: V230 = value; break;
+                    case 231: V231 = value; break;
+                    case 232: V232 = value; break;
+                    case 233: V233 = value; break;
+                    case 234: V234 = value; break;
+                    case 235: V235 = value; break;
+                    case 236: V236 = value; break;
+                    case 237: V237 = value; break;
+                    case 238: V238 = value; break;
+                    case 239: V239 = value; break;
+                    case 240: V240 = value; break;
+                    case 241: V241 = value; break;
+                    case 242: V242 = value; break;
+                    case 243: V243 = value; break;
+                    case 244: V244 = value; break;
+                    case 245: V245 = value; break;
+                    case 246: V246 = value; break;
+                    case 247: V247 = value; break;
+                    case 248: V248 = value; break;
+                    case 249: V249 = value; break;
+                    case 250: V250 = value; break;
+                    case 251: V251 = value; break;
+                    case 252: V252 = value; break;
+                    case 253: V253 = value; break;
+                    case 254: V254 = value; break;
+                    case 255: V255 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray32.cs

@@ -0,0 +1,133 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray32<T>
+    {
+        public static RcStackArray32<T> Empty => new RcStackArray32<T>();
+
+        private const int Size = 32;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray4.cs

@@ -0,0 +1,49 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray4<T>
+    {
+        public static RcStackArray4<T> Empty => new RcStackArray4<T>();
+
+        private const int Size = 4;
+        public int Length => Size;
+
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray64.cs

@@ -0,0 +1,229 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray64<T>
+    {
+        public static RcStackArray64<T> Empty => new RcStackArray64<T>();
+
+        private const int Size = 64;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32 : V32 = value; break;
+                    case 33 : V33 = value; break;
+                    case 34 : V34 = value; break;
+                    case 35 : V35 = value; break;
+                    case 36 : V36 = value; break;
+                    case 37 : V37 = value; break;
+                    case 38 : V38 = value; break;
+                    case 39 : V39 = value; break;
+                    case 40 : V40 = value; break;
+                    case 41 : V41 = value; break;
+                    case 42 : V42 = value; break;
+                    case 43 : V43 = value; break;
+                    case 44 : V44 = value; break;
+                    case 45 : V45 = value; break;
+                    case 46 : V46 = value; break;
+                    case 47 : V47 = value; break;
+                    case 48 : V48 = value; break;
+                    case 49 : V49 = value; break;
+                    case 50 : V50 = value; break;
+                    case 51 : V51 = value; break;
+                    case 52 : V52 = value; break;
+                    case 53 : V53 = value; break;
+                    case 54 : V54 = value; break;
+                    case 55 : V55 = value; break;
+                    case 56 : V56 = value; break;
+                    case 57 : V57 = value; break;
+                    case 58 : V58 = value; break;
+                    case 59 : V59 = value; break;
+                    case 60 : V60 = value; break;
+                    case 61 : V61 = value; break;
+                    case 62 : V62 = value; break;
+                    case 63 : V63 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray8.cs

@@ -0,0 +1,61 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray8<T>
+    {
+        public static RcStackArray8<T> Empty => new RcStackArray8<T>();
+
+        private const int Size = 8;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/DotRecast.Core.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Core</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
   
   <ItemGroup>

src/DotRecast.Core/Numerics/RcVec2f.cs

@@ -8,7 +8,7 @@ namespace DotRecast.Core.Numerics
         public float X;
         public float Y;
 
-        public static RcVec2f Zero { get; } = new RcVec2f { X = 0, Y = 0 };
+        public static readonly RcVec2f Zero = new RcVec2f { X = 0, Y = 0 };
 
         public RcVec2f(float x, float y)
         {

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -27,11 +27,11 @@ namespace DotRecast.Core.Numerics
         public float Y;
         public float Z;
 
-        public static RcVec3f Zero { get; } = new RcVec3f(0.0f, 0.0f, 0.0f);
+        public static readonly RcVec3f Zero = new RcVec3f(0.0f, 0.0f, 0.0f);
-        public static RcVec3f One { get; } = new RcVec3f(1.0f);
+        public static readonly RcVec3f One = new RcVec3f(1.0f);
-        public static RcVec3f UnitX { get; } = new RcVec3f(1.0f, 0.0f, 0.0f);
+        public static readonly RcVec3f UnitX = new RcVec3f(1.0f, 0.0f, 0.0f);
-        public static RcVec3f UnitY { get; } = new RcVec3f(0.0f, 1.0f, 0.0f);
+        public static readonly RcVec3f UnitY = new RcVec3f(0.0f, 1.0f, 0.0f);
-        public static RcVec3f UnitZ { get; } = new RcVec3f(0.0f, 0.0f, 1.0f);
+        public static readonly RcVec3f UnitZ = new RcVec3f(0.0f, 0.0f, 1.0f);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public RcVec3f(float x, float y, float z)

src/DotRecast.Core/RcAnonymousDisposable.cs

@@ -1,20 +0,0 @@
-using System;
-
-namespace DotRecast.Core
-{
-    public struct RcAnonymousDisposable : IDisposable
-    {
-        private Action _dispose;
-
-        public RcAnonymousDisposable(Action dispose)
-        {
-            _dispose = dispose;
-        }
-
-        public void Dispose()
-        {
-            _dispose?.Invoke();
-            _dispose = null;
-        }
-    }
-}

src/DotRecast.Core/RcAtomicLong.cs

@@ -1,8 +1,9 @@
-using System.Threading;
+using System;
+using System.Threading;
 
 namespace DotRecast.Core
 {
-    public class RcAtomicLong
+    public class RcAtomicLong : IComparable<RcAtomicLong>
     {
         private long _location;
 
@@ -15,6 +16,11 @@ namespace DotRecast.Core
             _location = location;
         }
 
+        public int CompareTo(RcAtomicLong other)
+        {
+            return Read().CompareTo(other.Read());
+        }
+
         public long IncrementAndGet()
         {
             return Interlocked.Increment(ref _location);

src/DotRecast.Core/RcContext.cs

@@ -25,21 +25,33 @@ using System.Threading;
 
 namespace DotRecast.Core
 {
-    public class RcTelemetry
+    /// Provides an interface for optional logging and performance tracking of the Recast 
+    /// build process.
+    /// 
+    /// This class does not provide logging or timer functionality on its 
+    /// own.  Both must be provided by a concrete implementation 
+    /// by overriding the protected member functions.  Also, this class does not 
+    /// provide an interface for extracting log messages. (Only adding them.) 
+    /// So concrete implementations must provide one.
+    ///
+    /// If no logging or timers are required, just pass an instance of this 
+    /// class through the Recast build process.
+    /// 
+    /// @ingroup recast
+    public class RcContext
     {
         private readonly ThreadLocal<Dictionary<string, RcAtomicLong>> _timerStart;
         private readonly ConcurrentDictionary<string, RcAtomicLong> _timerAccum;
 
-        public RcTelemetry()
+        public RcContext()
         {
             _timerStart = new ThreadLocal<Dictionary<string, RcAtomicLong>>(() => new Dictionary<string, RcAtomicLong>());
             _timerAccum = new ConcurrentDictionary<string, RcAtomicLong>();
         }
 
-        public IDisposable ScopedTimer(RcTimerLabel label)
+        public RcScopedTimer ScopedTimer(RcTimerLabel label)
         {
-            StartTimer(label);
+            return new RcScopedTimer(this, label);
-            return new RcAnonymousDisposable(() => StopTimer(label));
         }
 
         public void StartTimer(RcTimerLabel label)

src/DotRecast.Core/RcHashCodes.cs

@@ -1,10 +1,26 @@
-namespace DotRecast.Core
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core
 {
     public static class RcHashCodes
     {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static int CombineHashCodes(int h1, int h2)
         {
             return (((h1 << 5) + h1) ^ h2);
         }
+
+        // From Thomas Wang, https://gist.github.com/badboy/6267743
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint WangHash(uint a)
+        {
+            a = (~a) + (a << 18); // a = (a << 18) - a - 1;
+            a = a ^ (a >> 31);
+            a = a * 21; // a = (a + (a << 2)) + (a << 4);
+            a = a ^ (a >> 11);
+            a = a + (a << 6);
+            a = a ^ (a >> 22);
+            return (uint)a;
+        }
     }
 }

src/DotRecast.Core/RcProcess.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+
+namespace DotRecast.Core
+{
+    public static class RcProcess
+    {
+        public static void OpenUrl(string url)
+        {
+            try
+            {
+                // OS에 따라 다른 명령 실행
+                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+                {
+                    var psi = new ProcessStartInfo("cmd", $"/c start {url}") { CreateNoWindow = true };
+                    Process.Start(psi);
+                }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
+                {
+                    Process.Start("open", url);
+                }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    Process.Start("xdg-open", url);
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Error opening web browser: {ex.Message}");
+            }
+        }
+    }
+}

src/DotRecast.Core/RcRand.cs

@@ -20,5 +20,10 @@ namespace DotRecast.Core
         {
             return (float)_r.NextDouble();
         }
+
+        public int NextInt32()
+        {
+            return _r.Next();
+        }
     }
 }

src/DotRecast.Core/RcScopedTimer.cs

@@ -0,0 +1,23 @@
+using System;
+
+namespace DotRecast.Core
+{
+    public readonly struct RcScopedTimer : IDisposable
+    {
+        private readonly RcContext _context;
+        private readonly RcTimerLabel _label;
+
+        internal RcScopedTimer(RcContext context, RcTimerLabel label)
+        {
+            _context = context;
+            _label = label;
+            
+            _context.StartTimer(_label);
+        }
+
+        public void Dispose()
+        {
+            _context.StopTimer(_label);
+        }
+    }
+}

src/DotRecast.Core/RcThrowHelper.cs

@@ -0,0 +1,42 @@
+using System;
+using System.Runtime.CompilerServices;
+using DotRecast.Core.Collections;
+
+namespace DotRecast.Core
+{
+    public static class RcThrowHelper
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ThrowExceptionIfIndexOutOfRange(int index, int size)
+        {
+            if (0 > index || index >= size)
+            {
+                throw new IndexOutOfRangeException($"Index {index} is out of range - size({size})");
+            }
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void StackOverflow()
+        {
+            var array_128_512_1 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+            var array_128_512_2 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+
+            var array_32_512_1 = RcStackArray32<RcStackArray512<float>>.Empty; // 32 * 512 = 16384
+
+            var array_16_512_1 = RcStackArray16<RcStackArray512<float>>.Empty; // 16 * 512 = 8192
+
+            var array_8_512_1 = RcStackArray8<RcStackArray512<float>>.Empty; // 8 * 512 = 4196
+            var array_4_256_1 = RcStackArray4<RcStackArray256<float>>.Empty; // 4 * 256 = 1024
+            var array_4_64_1 = RcStackArray4<RcStackArray64<float>>.Empty; // 4 * 64 = 256
+        
+            //
+            var array_2_8_1 = RcStackArray2<RcStackArray8<float>>.Empty; // 2 * 8 = 16
+            var array_2_4_1 = RcStackArray2<RcStackArray2<float>>.Empty; // 2 * 2 = 4
+            
+            float f1 = 0.0f; // 1
+            //float f2 = 0.0f; // my system stack overflow!
+        }
+
+ 
+    }
+}

src/DotRecast.Detour.Crowd/DotRecast.Detour.Crowd.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Detour.Crowd</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -20,163 +20,155 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Threading.Tasks;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
-
 namespace DotRecast.Detour.Crowd
 {
+    ///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
     /**
- * Members in this module implement local steering and dynamic avoidance features.
+
- *
+    @defgroup crowd Crowd
- * The crowd is the big beast of the navigation features. It not only handles a lot of the path management for you, but
+
- * also local steering and dynamic avoidance between members of the crowd. I.e. It can keep your agents from running
+    Members in this module implement local steering and dynamic avoidance features.
- * into each other.
+
- *
+    The crowd is the big beast of the navigation features. It not only handles a
- * Main class: Crowd
+    lot of the path management for you, but also local steering and dynamic
- *
+    avoidance between members of the crowd. I.e. It can keep your agents from
- * The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy to use path planning features. But in
+    running into each other.
- * the end they only give you points that your navigation client should be moving toward. When it comes to deciding
+
- * things like agent velocity and steering to avoid other agents, that is up to you to implement. Unless, of course, you
+    Main class: #dtCrowd
- * decide to use Crowd.
+
- *
+    The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy
- * Basically, you add an agent to the crowd, providing various configuration settings such as maximum speed and
+    to use path planning features. But in the end they only give you points that
- * acceleration. You also provide a local target to move toward. The crowd manager then provides, with every update, the
+    your navigation client should be moving toward. When it comes to deciding things
- * new agent position and velocity for the frame. The movement will be constrained to the navigation mesh, and steering
+    like agent velocity and steering to avoid other agents, that is up to you to
- * will be applied to ensure agents managed by the crowd do not collide with each other.
+    implement. Unless, of course, you decide to use #dtCrowd.
- *
+
- * This is very powerful feature set. But it comes with limitations.
+    Basically, you add an agent to the crowd, providing various configuration
- *
+    settings such as maximum speed and acceleration. You also provide a local
- * The biggest limitation is that you must give control of the agent's position completely over to the crowd manager.
+    target to more toward. The crowd manager then provides, with every update, the
- * You can update things like maximum speed and acceleration. But in order for the crowd manager to do its thing, it
+    new agent position and velocity for the frame. The movement will be
- * can't allow you to constantly be giving it overrides to position and velocity. So you give up direct control of the
+    constrained to the navigation mesh, and steering will be applied to ensure
- * agent's movement. It belongs to the crowd.
+    agents managed by the crowd do not collide with each other.
- *
+
- * The second biggest limitation revolves around the fact that the crowd manager deals with local planning. So the
+    This is very powerful feature set. But it comes with limitations.
- * agent's target should never be more than 256 polygons away from its current position. If it is, you risk your agent
+
- * failing to reach its target. So you may still need to do long distance planning and provide the crowd manager with
+    The biggest limitation is that you must give control of the agent's position
- * intermediate targets.
+    completely over to the crowd manager. You can update things like maximum speed
- *
+    and acceleration. But in order for the crowd manager to do its thing, it can't
- * Other significant limitations:
+    allow you to constantly be giving it overrides to position and velocity. So
- *
+    you give up direct control of the agent's movement. It belongs to the crowd.
- * - All agents using the crowd manager will use the same #dtQueryFilter. - Crowd management is relatively expensive.
+
- * The maximum agents under crowd management at any one time is between 20 and 30. A good place to start is a maximum of
+    The second biggest limitation revolves around the fact that the crowd manager
- * 25 agents for 0.5ms per frame.
+    deals with local planning. So the agent's target should never be more than
- *
+    256 polygons aways from its current position. If it is, you risk
- * @note This is a summary list of members. Use the index or search feature to find minor members.
+    your agent failing to reach its target. So you may still need to do long
- *
+    distance planning and provide the crowd manager with intermediate targets.
- * @struct dtCrowdAgentParams
+
- * @see CrowdAgent, Crowd::AddAgent(), Crowd::UpdateAgentParameters()
+    Other significant limitations:
- *
+
- * @var dtCrowdAgentParams::obstacleAvoidanceType
+    - All agents using the crowd manager will use the same #dtQueryFilter.
- * @par
+    - Crowd management is relatively expensive. The maximum agents under crowd
- *
+      management at any one time is between 20 and 30.  A good place to start
- * 		#dtCrowd permits agents to use different avoidance configurations. This value is the index of the
+      is a maximum of 25 agents for 0.5ms per frame.
- *      #dtObstacleAvoidanceParams within the crowd.
+
- *
+    @note This is a summary list of members.  Use the index or search
- * @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams()
+    feature to find minor members.
- *
+
- * @var dtCrowdAgentParams::collisionQueryRange
+    @struct dtCrowdAgentParams
- * @par
+    @see dtCrowdAgent, dtCrowd::addAgent(), dtCrowd::updateAgentParameters()
- *
+
- * 		Collision elements include other agents and navigation mesh boundaries.
+    @var dtCrowdAgentParams::obstacleAvoidanceType
- *
+    @par
- *      This value is often based on the agent radius and/or maximum speed. E.g. radius * 8
+
- *
+    #dtCrowd permits agents to use different avoidance configurations.  This value
- * @var dtCrowdAgentParams::pathOptimizationRange
+    is the index of the #dtObstacleAvoidanceParams within the crowd.
- * @par
+
- *
+    @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(),
- * 		Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag.
+         dtCrowd::getObstacleAvoidanceParams()
- *
+
- *      This value is often based on the agent radius. E.g. radius * 30
+    @var dtCrowdAgentParams::collisionQueryRange
- *
+    @par
- * @see dtPathCorridor::OptimizePathVisibility()
+
- *
+    Collision elements include other agents and navigation mesh boundaries.
- * @var dtCrowdAgentParams::separationWeight
+
- * @par
+    This value is often based on the agent radius and/or maximum speed. E.g. radius * 8
- *
+
- * 		A higher value will result in agents trying to stay farther away from each other at the cost of more difficult
+    @var dtCrowdAgentParams::pathOptimizationRange
- *      steering in tight spaces.
+    @par
- *
+
- */
+    Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag.
-    /**
+
-     * This is the core class of the refs crowd module. See the refs crowd documentation for a summary of the crowd
+    This value is often based on the agent radius. E.g. radius * 30
-     * features. A common method for setting up the crowd is as follows: -# Allocate the crowd -# Set the avoidance
+
-     * configurations using #SetObstacleAvoidanceParams(). -# Add agents using #AddAgent() and make an initial movement
+    @see dtPathCorridor::optimizePathVisibility()
-     * request using #RequestMoveTarget(). A common process for managing the crowd is as follows: -# Call #Update() to allow
+
-     * the crowd to manage its agents. -# Retrieve agent information using #GetActiveAgents(). -# Make movement requests
+    @var dtCrowdAgentParams::separationWeight
-     * using #RequestMoveTarget() when movement goal changes. -# Repeat every frame. Some agent configuration settings can
+    @par
-     * be updated using #UpdateAgentParameters(). But the crowd owns the agent position. So it is not possible to update an
+
-     * active agent's position. If agent position must be fed back into the crowd, the agent must be removed and re-added.
+    A higher value will result in agents trying to stay farther away from each other at
-     * Notes: - Path related information is available for newly added agents only after an #Update() has been performed. -
+    the cost of more difficult steering in tight spaces.
-     * Agent objects are kept in a pool and re-used. So it is important when using agent objects to check the value of
+    */
-     * #dtCrowdAgent::active to determine if the agent is actually in use or not. - This class is meant to provide 'local'
+    /// Provides local steering behaviors for a group of agents. 
-     * movement. There is a limit of 256 polygons in the path corridor. So it is not meant to provide automatic pathfinding
+    /// @ingroup crowd
-     * services over long distances.
-     *
-     * @see DtAllocCrowd(), DtFreeCrowd(), Init(), dtCrowdAgent
-     */
     public class DtCrowd
     {
-        /// The maximum number of corners a crowd agent will look ahead in the path.
-        /// This value is used for sizing the crowd agent corner buffers.
-        /// Due to the behavior of the crowd manager, the actual number of useful
-        /// corners will be one less than this number.
-        /// @ingroup crowd
-        public const int DT_CROWDAGENT_MAX_CORNERS = 4;
-
-        /// The maximum number of crowd avoidance configurations supported by the
-        /// crowd manager.
-        /// @ingroup crowd
-        /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(),
-        /// dtCrowdAgentParams::obstacleAvoidanceType
-        public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
-
-        /// The maximum number of query filter types supported by the crowd manager.
-        /// @ingroup crowd
-        /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(),
-        /// dtCrowdAgentParams::queryFilterType
-        public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
-
         private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
         private readonly List<DtCrowdAgent> _agents;
+
         private readonly DtPathQueue _pathQ;
-        private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
+
+        private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
         private readonly DtObstacleAvoidanceQuery _obstacleQuery;
+
         private DtProximityGrid _grid;
-        private readonly RcVec3f _ext = new RcVec3f();
+
-        private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
+        private int _maxPathResult;
-        private DtNavMeshQuery _navQuery;
+        private readonly RcVec3f _agentPlacementHalfExtents;
-        private DtNavMesh _navMesh;
+
+        private readonly IDtQueryFilter[] _filters;
+
         private readonly DtCrowdConfig _config;
-        private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
         private int _velocitySampleCount;
 
-        public DtCrowd(DtCrowdConfig config, DtNavMesh nav) :
+        private DtNavMeshQuery _navQuery;
-            this(config, nav, i => new DtQueryDefaultFilter())
+
+        private DtNavMesh _navMesh;
+        private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
+
+        public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : this(config, nav, i => new DtQueryDefaultFilter())
         {
         }
 
         public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory)
         {
             _config = config;
-            _ext = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
+            _agentPlacementHalfExtents = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
 
             _obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
 
-            for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
+            _filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE];
+            for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
             {
                 _filters[i] = queryFilterFactory.Invoke(i);
             }
 
             // Init obstacle query option.
-            for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
+            _obstacleQueryParams = new DtObstacleAvoidanceParams[DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
+            for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
             {
                 _obstacleQueryParams[i] = new DtObstacleAvoidanceParams();
             }
 
             // Allocate temp buffer for merging paths.
+            _maxPathResult = DtCrowdConst.MAX_PATH_RESULT;
             _pathQ = new DtPathQueue(config);
             _agents = new List<DtCrowdAgent>();
 
@@ -206,7 +198,7 @@ namespace DotRecast.Detour.Crowd
         /// @param[in] option The new configuration.
         public void SetObstacleAvoidanceParams(int idx, DtObstacleAvoidanceParams option)
         {
-            if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
+            if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
                 _obstacleQueryParams[idx] = new DtObstacleAvoidanceParams(option);
             }
@@ -218,7 +210,7 @@ namespace DotRecast.Detour.Crowd
         /// @return The requested configuration.
         public DtObstacleAvoidanceParams GetObstacleAvoidanceParams(int idx)
         {
-            if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
+            if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
                 return _obstacleQueryParams[idx];
             }
@@ -234,23 +226,24 @@ namespace DotRecast.Detour.Crowd
             agent.option = option;
         }
 
-        /**
+        /// @par
-     * Adds a new agent to the crowd.
+        ///
-     *
+        /// The agent's position will be constrained to the surface of the navigation mesh.
-     * @param pos
+        /// Adds a new agent to the crowd.
-     *            The requested position of the agent. [(x, y, z)]
+        ///  @param[in]		pos		The requested position of the agent. [(x, y, z)]
-     * @param params
+        ///  @param[in]		params	The configuration of the agent.
-     *            The configuration of the agent.
+        /// @return The index of the agent in the agent pool. Or -1 if the agent could not be added.
-     * @return The newly created agent object
-     */
         public DtCrowdAgent AddAgent(RcVec3f pos, DtCrowdAgentParams option)
         {
-            DtCrowdAgent ag = new DtCrowdAgent(_agentId.GetAndIncrement());
+            int idx = _agentId.GetAndIncrement();
+            DtCrowdAgent ag = new DtCrowdAgent(idx);
+            ag.corridor.Init(_maxPathResult);
             _agents.Add(ag);
+
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
-            var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
+            var status = _navQuery.FindNearestPoly(pos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
             if (status.Failed())
             {
                 nearestPt = pos;
@@ -370,12 +363,12 @@ namespace DotRecast.Detour.Crowd
 
         public RcVec3f GetQueryExtents()
         {
-            return _ext;
+            return _agentPlacementHalfExtents;
         }
 
         public IDtQueryFilter GetFilter(int i)
         {
-            return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
+            return i >= 0 && i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
         }
 
         public DtProximityGrid GetGrid()
@@ -451,8 +444,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.CheckPathValidity);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -470,7 +464,7 @@ namespace DotRecast.Detour.Crowd
                 {
                     // Current location is not valid, try to reposition.
                     // TODO: this can snap agents, how to handle that?
-                    _navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
+                    _navQuery.FindNearestPoly(ag.npos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
                     agentPos = nearestPt;
 
                     if (agentRef == 0)
@@ -510,7 +504,7 @@ namespace DotRecast.Detour.Crowd
                     if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
                     {
                         // Current target is not valid, try to reposition.
-                        _navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
+                        _navQuery.FindNearestPoly(ag.targetPos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
                         ag.targetPos = nearestPt;
                         replan = true;
                     }
@@ -534,8 +528,7 @@ namespace DotRecast.Detour.Crowd
                     replan = true;
                 }
 
-                // If the end of the path is near and it is not the requested
+                // If the end of the path is near and it is not the requested location, replan.
-                // location, replan.
                 if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VALID)
                 {
                     if (ag.targetReplanTime > _config.targetReplanDelay && ag.corridor.GetPathCount() < _config.checkLookAhead
@@ -564,8 +557,9 @@ namespace DotRecast.Detour.Crowd
 
             // Fire off new requests.
             List<long> reqPath = new List<long>();
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state == DtCrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
                 {
                     continue;
@@ -677,8 +671,9 @@ namespace DotRecast.Detour.Crowd
             }
 
             // Process path results.
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_NONE
                     || ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
                 {
@@ -816,8 +811,9 @@ namespace DotRecast.Detour.Crowd
 
             RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.topologyOptTime.CompareTo(a1.topologyOptTime));
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -855,8 +851,9 @@ namespace DotRecast.Detour.Crowd
 
             _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 RcVec3f p = ag.npos;
                 float r = ag.option.radius;
                 _grid.AddItem(ag, p.X - r, p.Z - r, p.X + r, p.Z + r);
@@ -867,8 +864,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildNeighbours);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -894,10 +892,12 @@ namespace DotRecast.Detour.Crowd
         {
             result.Clear();
 
-            var proxAgents = new HashSet<DtCrowdAgent>();
+            int MAX_NEIS = 32;
-            int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ref proxAgents);
+            var ids = new DtCrowdAgent[MAX_NEIS];
-            foreach (DtCrowdAgent ag in proxAgents)
+            int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ids, ids.Length);
+            for (int i = 0; i < nids; ++i)
             {
+                var ag = ids[i];
                 if (ag == skip)
                 {
                     continue;
@@ -929,8 +929,9 @@ namespace DotRecast.Detour.Crowd
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.FindCorners);
 
             DtCrowdAgent debugAgent = debug != null ? debug.agent : null;
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -943,7 +944,7 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Find corners for steering
-                ag.corridor.FindCorners(ref ag.corners, DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
+                ag.corridor.FindCorners(ref ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
 
                 // Check to see if the corner after the next corner is directly visible,
                 // and short cut to there.
@@ -976,8 +977,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.TriggerOffMeshConnections);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1024,8 +1026,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.CalculateSteering);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1122,8 +1125,9 @@ namespace DotRecast.Detour.Crowd
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.PlanVelocity);
 
             DtCrowdAgent debugAgent = debug != null ? debug.agent : null;
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1191,8 +1195,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.Integrate);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1208,8 +1213,9 @@ namespace DotRecast.Detour.Crowd
 
             for (int iter = 0; iter < 4; ++iter)
             {
-                foreach (DtCrowdAgent ag in agents)
+                for (var i = 0; i < agents.Count; i++)
                 {
+                    var ag = agents[i];
                     long idx0 = ag.idx;
                     if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                     {
@@ -1266,8 +1272,9 @@ namespace DotRecast.Detour.Crowd
                     }
                 }
 
-                foreach (DtCrowdAgent ag in agents)
+                for (var i = 0; i < agents.Count; i++)
                 {
+                    var ag = agents[i];
                     if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                     {
                         continue;
@@ -1282,8 +1289,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.MoveAgents);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1308,8 +1316,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.UpdateOffMeshConnections);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 DtCrowdAgentAnimation anim = ag.animation;
                 if (!anim.active)
                 {

src/DotRecast.Detour.Crowd/DtCrowdAgent.cs

@@ -33,8 +33,7 @@ namespace DotRecast.Detour.Crowd
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public DtCrowdAgentState state;
 
-        /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the
+        /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false.
-        /// requested position, else false.
         public bool partial;
 
         /// The path corridor the agent is using.
@@ -52,51 +51,24 @@ namespace DotRecast.Detour.Crowd
         /// The desired speed.
         public float desiredSpeed;
 
-        public RcVec3f npos = new RcVec3f();
+        public RcVec3f npos = new RcVec3f(); // < The current agent position. [(x, y, z)]
+        public RcVec3f disp = new RcVec3f(); // < A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)]
+        public RcVec3f dvel = new RcVec3f(); // < The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)]
+        public RcVec3f nvel = new RcVec3f(); // < The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)]
+        public RcVec3f vel = new RcVec3f(); // < The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)]
 
-        /// < The current agent position. [(x, y, z)]
-        public RcVec3f disp = new RcVec3f();
-
-        /// < A temporary value used to accumulate agent displacement during iterative
-        /// collision resolution. [(x, y, z)]
-        public RcVec3f dvel = new RcVec3f();
-
-        /// < The desired velocity of the agent. Based on the current path, calculated
-        /// from
-        /// scratch each frame. [(x, y, z)]
-        public RcVec3f nvel = new RcVec3f();
-
-        /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each
-        /// frame. [(x, y, z)]
-        public RcVec3f vel = new RcVec3f();
-
-        /// < The actual velocity of the agent. The change from nvel -> vel is
-        /// constrained by max acceleration. [(x, y, z)]
         /// The agent's configuration parameters.
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
         public List<DtStraightPath> corners = new List<DtStraightPath>();
 
-        public DtMoveRequestState targetState;
+        public DtMoveRequestState targetState; // < State of the movement request.
-
+        public long targetRef; // < Target polyref of the movement request.
-        /// < State of the movement request.
+        public RcVec3f targetPos = new RcVec3f(); // < Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY).
-        public long targetRef;
+        public DtPathQueryResult targetPathQueryResult; // < Path finder query
-
+        public bool targetReplan; // < Flag indicating that the current path is being replanned.
-        /// < Target polyref of the movement request.
+        public float targetReplanTime; // <Time since the agent's target was replanned.
-        public RcVec3f targetPos = new RcVec3f();
-
-        /// < Target position of the movement request (or velocity in case of
-        /// DT_CROWDAGENT_TARGET_VELOCITY).
-        public DtPathQueryResult targetPathQueryResult;
-
-        /// < Path finder query
-        public bool targetReplan;
-
-        /// < Flag indicating that the current path is being replanned.
-        public float targetReplanTime;
-
-        /// <Time since the agent's target was replanned.
         public float targetReplanWaitTime;
 
         public DtCrowdAgentAnimation animation;

src/DotRecast.Detour.Crowd/DtCrowdConfig.cs

@@ -23,52 +23,16 @@ namespace DotRecast.Detour.Crowd
     {
         public readonly float maxAgentRadius;
 
-        /**
+        public int pathQueueSize = 32; // Max number of path requests in the queue
-     * Max number of path requests in the queue
+        public int maxFindPathIterations = 100; // Max number of sliced path finding iterations executed per update (used to handle longer paths and replans)
-     */
+        public int maxTargetFindPathIterations = 20; // Max number of sliced path finding iterations executed per agent to find the initial path to target
-        public int pathQueueSize = 32;
+        public float topologyOptimizationTimeThreshold = 0.5f; // Min time between topology optimizations (in seconds)
-
+        public int checkLookAhead = 10; // The number of polygons from the beginning of the corridor to check to ensure path validity
-        /**
+        public float targetReplanDelay = 1.0f; // Min time between target re-planning (in seconds)
-     * Max number of sliced path finding iterations executed per update (used to handle longer paths and replans)
+        public int maxTopologyOptimizationIterations = 32; // Max number of sliced path finding iterations executed per topology optimization per agent
-     */
-        public int maxFindPathIterations = 100;
-
-        /**
-     * Max number of sliced path finding iterations executed per agent to find the initial path to target
-     */
-        public int maxTargetFindPathIterations = 20;
-
-        /**
-     * Min time between topology optimizations (in seconds)
-     */
-        public float topologyOptimizationTimeThreshold = 0.5f;
-
-        /**
-     * The number of polygons from the beginning of the corridor to check to ensure path validity
-     */
-        public int checkLookAhead = 10;
-
-        /**
-     * Min time between target re-planning (in seconds)
-     */
-        public float targetReplanDelay = 1.0f;
-
-        /**
-     * Max number of sliced path finding iterations executed per topology optimization per agent
-     */
-        public int maxTopologyOptimizationIterations = 32;
-
         public float collisionResolveFactor = 0.7f;
-
+        public int maxObstacleAvoidanceCircles = 6; // Max number of neighbour agents to consider in obstacle avoidance processing
-        /**
+        public int maxObstacleAvoidanceSegments = 8; // Max number of neighbour segments to consider in obstacle avoidance processing
-     * Max number of neighbour agents to consider in obstacle avoidance processing
-     */
-        public int maxObstacleAvoidanceCircles = 6;
-
-        /**
-     * Max number of neighbour segments to consider in obstacle avoidance processing
-     */
-        public int maxObstacleAvoidanceSegments = 8;
 
         public DtCrowdConfig(float maxAgentRadius)
         {

src/DotRecast.Detour.Crowd/DtCrowdConst.cs

@@ -0,0 +1,35 @@
+namespace DotRecast.Detour.Crowd
+{
+    public static class DtCrowdConst
+    {
+        /// The maximum number of neighbors that a crowd agent can take into account
+        /// for steering decisions.
+        /// @ingroup crowd
+        public const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6;
+        
+        /// The maximum number of corners a crowd agent will look ahead in the path.
+        /// This value is used for sizing the crowd agent corner buffers.
+        /// Due to the behavior of the crowd manager, the actual number of useful
+        /// corners will be one less than this number.
+        /// @ingroup crowd
+        public const int DT_CROWDAGENT_MAX_CORNERS = 4;
+
+        /// The maximum number of crowd avoidance configurations supported by the
+        /// crowd manager.
+        /// @ingroup crowd
+        /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(),
+        /// dtCrowdAgentParams::obstacleAvoidanceType
+        public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
+
+        /// The maximum number of query filter types supported by the crowd manager.
+        /// @ingroup crowd
+        /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(),
+        /// dtCrowdAgentParams::queryFilterType
+        public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
+        
+        public const int MAX_ITERS_PER_UPDATE = 100;
+        public const int MAX_PATHQUEUE_NODES = 4096;
+        public const int MAX_COMMON_NODES = 512;
+        public const int MAX_PATH_RESULT = 256;
+    }
+}

src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs

@@ -0,0 +1,23 @@
+using System;
+
+namespace DotRecast.Detour.Crowd
+{
+    internal readonly struct DtCrowdScopedTimer : IDisposable
+    {
+        private readonly DtCrowdTimerLabel _label;
+        private readonly DtCrowdTelemetry _telemetry;
+
+        internal DtCrowdScopedTimer(DtCrowdTelemetry telemetry, DtCrowdTimerLabel label)
+        {
+            _telemetry = telemetry;
+            _label = label;
+
+            _telemetry.Start(_label);
+        }
+
+        public void Dispose()
+        {
+            _telemetry.Stop(_label);
+        }
+    }
+}

src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs

@@ -19,11 +19,9 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
 using System.Linq;
-using System.Reflection.Emit;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour.Crowd
 {
@@ -34,7 +32,7 @@ namespace DotRecast.Detour.Crowd
         private float _maxTimeToFindPath;
 
         private readonly Dictionary<DtCrowdTimerLabel, long> _executionTimings = new Dictionary<DtCrowdTimerLabel, long>();
-        private readonly Dictionary<DtCrowdTimerLabel, List<long>> _executionTimingSamples = new Dictionary<DtCrowdTimerLabel, List<long>>();
+        private readonly Dictionary<DtCrowdTimerLabel, RcCyclicBuffer<long>> _executionTimingSamples = new Dictionary<DtCrowdTimerLabel, RcCyclicBuffer<long>>();
 
         public float MaxTimeToEnqueueRequest()
         {
@@ -71,33 +69,27 @@ namespace DotRecast.Detour.Crowd
             _maxTimeToFindPath = Math.Max(_maxTimeToFindPath, time);
         }
 
-        public IDisposable ScopedTimer(DtCrowdTimerLabel label)
+        internal DtCrowdScopedTimer ScopedTimer(DtCrowdTimerLabel label)
         {
-            Start(label);
+            return new DtCrowdScopedTimer(this, label);
-            return new RcAnonymousDisposable(() => Stop(label));
         }
 
-        private void Start(DtCrowdTimerLabel name)
+        internal void Start(DtCrowdTimerLabel name)
         {
             _executionTimings.Add(name, RcFrequency.Ticks);
         }
 
-        private void Stop(DtCrowdTimerLabel name)
+        internal void Stop(DtCrowdTimerLabel name)
         {
             long duration = RcFrequency.Ticks - _executionTimings[name];
-            if (!_executionTimingSamples.TryGetValue(name, out var s))
+            if (!_executionTimingSamples.TryGetValue(name, out var cb))
             {
-                s = new List<long>();
+                cb = new RcCyclicBuffer<long>(TIMING_SAMPLES);
-                _executionTimingSamples.Add(name, s);
+                _executionTimingSamples.Add(name, cb);
             }
 
-            if (s.Count == TIMING_SAMPLES)
+            cb.PushBack(duration);
-            {
+            _executionTimings[name] = (long)cb.Average();
-                s.RemoveAt(0);
-            }
-
-            s.Add(duration);
-            _executionTimings[name] = (long)s.Average();
         }
     }
 }

src/DotRecast.Detour.Crowd/DtLocalBoundary.cs

@@ -25,8 +25,6 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
-    
-
     public class DtLocalBoundary
     {
         public const int MAX_LOCAL_SEGS = 8;

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -26,95 +26,114 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
-    /**
+    /// Represents a dynamic polygon corridor used to plan agent movement.
-     * Represents a dynamic polygon corridor used to plan agent movement.
+    /// @ingroup crowd, detour
-     *
-     * The corridor is loaded with a path, usually obtained from a #NavMeshQuery::FindPath() query. The corridor is then
-     * used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate agent
-     * locomotion.
-     *
-     * Example of a common use case:
-     *
-     * -# Construct the corridor object and call -# Obtain a path from a #dtNavMeshQuery object. -# Use #Reset() to set the
-     * agent's current position. (At the beginning of the path.) -# Use #SetCorridor() to load the path and target. -# Use
-     * #FindCorners() to plan movement. (This handles dynamic path straightening.) -# Use #MovePosition() to feed agent
-     * movement back into the corridor. (The corridor will automatically adjust as needed.) -# If the target is moving, use
-     * #MoveTargetPosition() to update the end of the corridor. (The corridor will automatically adjust as needed.) -#
-     * Repeat the previous 3 steps to continue to move the agent.
-     *
-     * The corridor position and target are always constrained to the navigation mesh.
-     *
-     * One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
-     * steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path. This
-     * class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
-     *
-     * The fact that local mesh queries are used to move the position and target locations results in two beahviors that
-     * need to be considered:
-     *
-     * Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
-     * the target is moved from its original location, and the further the position is moved outside the original corridor,
-     * the more likely the path will become non-optimal. This issue can be addressed by periodically running the
-     * #OptimizePathTopology() and #OptimizePathVisibility() methods.
-     *
-     * All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most
-     * accurate use case is to move the position and target in small increments. If a large increment is used, then the
-     * corridor may not be able to accurately find the new location. Because of this limiation, if a position is moved in a
-     * large increment, then compare the desired and resulting polygon references. If the two do not match, then path
-     * replanning may be needed. E.g. If you move the target, check #GetLastPoly() to see if it is the expected polygon.
-     *
-     */
     public class DtPathCorridor
     {
-        private RcVec3f m_pos = new RcVec3f();
+        private RcVec3f m_pos;
-        private RcVec3f m_target = new RcVec3f();
+        private RcVec3f m_target;
-        private List<long> m_path;
 
+        private List<long> m_path;
+        private int m_maxPath;
 
         /**
-     * Allocates the corridor's path buffer.
+        @class dtPathCorridor
-     */
+        @par
+
+        The corridor is loaded with a path, usually obtained from a #dtNavMeshQuery::findPath() query. The corridor
+        is then used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate
+        agent locomotion.
+
+        Example of a common use case:
+
+        -# Construct the corridor object and call #init() to allocate its path buffer.
+        -# Obtain a path from a #dtNavMeshQuery object.
+        -# Use #reset() to set the agent's current position. (At the beginning of the path.)
+        -# Use #setCorridor() to load the path and target.
+        -# Use #findCorners() to plan movement. (This handles dynamic path straightening.)
+        -# Use #movePosition() to feed agent movement back into the corridor. (The corridor will automatically adjust as needed.)
+        -# If the target is moving, use #moveTargetPosition() to update the end of the corridor.
+           (The corridor will automatically adjust as needed.)
+        -# Repeat the previous 3 steps to continue to move the agent.
+
+        The corridor position and target are always constrained to the navigation mesh.
+
+        One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
+        steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path.
+        This class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
+
+        The fact that local mesh queries are used to move the position and target locations results in two beahviors that
+        need to be considered:
+
+        Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
+        the target is moved from its original location, and the further the position is moved outside the original corridor,
+        the more likely the path will become non-optimal. This issue can be addressed by periodically running the
+        #optimizePathTopology() and #optimizePathVisibility() methods.
+
+        All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most accurate
+        use case is to move the position and target in small increments. If a large increment is used, then the corridor
+        may not be able to accurately find the new location.  Because of this limiation, if a position is moved in a large
+        increment, then compare the desired and resulting polygon references. If the two do not match, then path replanning
+        may be needed.  E.g. If you move the target, check #getLastPoly() to see if it is the expected polygon.
+        */
         public DtPathCorridor()
         {
-            m_path = new List<long>();
         }
 
-        /**
+        /// @par
-     * Resets the path corridor to the specified position.
+        ///
-     *
+        /// @warning Cannot be called more than once.
-     * @param ref
+        /// Allocates the corridor's path buffer. 
-     *            The polygon reference containing the position.
+        ///  @param[in]		maxPath		The maximum path size the corridor can handle.
-     * @param pos
+        /// @return True if the initialization succeeded.
-     *            The new position in the corridor. [(x, y, z)]
+        public bool Init(int maxPath)
-     */
+        {
+            m_path = new List<long>();
+            m_maxPath = maxPath;
+            return true;
+        }
+
+        /// @par
+        ///
+        /// Essentially, the corridor is set of one polygon in size with the target
+        /// equal to the position.
+        /// 
+        /// Resets the path corridor to the specified position.
+        ///  @param[in]		ref		The polygon reference containing the position.
+        ///  @param[in]		pos		The new position in the corridor. [(x, y, z)]
         public void Reset(long refs, RcVec3f pos)
         {
-            m_path.Clear();
-            m_path.Add(refs);
             m_pos = pos;
             m_target = pos;
+            m_path.Clear();
+            m_path.Add(refs);
         }
 
-        private static readonly float MIN_TARGET_DIST = RcMath.Sqr(0.01f);
-
         /**
-     * Finds the corners in the corridor from the position toward the target. (The straightened path.)
+        @par
-     *
+
-     * This is the function used to plan local movement within the corridor. One or more corners can be detected in
+        This is the function used to plan local movement within the corridor. One or more corners can be
-     * order to plan movement. It performs essentially the same function as #dtNavMeshQuery::findStraightPath.
+        detected in order to plan movement. It performs essentially the same function as #dtNavMeshQuery::findStraightPath.
-     *
+
-     * Due to internal optimizations, the maximum number of corners returned will be (@p maxCorners - 1) For example: If
+        Due to internal optimizations, the maximum number of corners returned will be (@p maxCorners - 1)
-     * the buffers are sized to hold 10 corners, the function will never return more than 9 corners. So if 10 corners
+        For example: If the buffers are sized to hold 10 corners, the function will never return more than 9 corners.
-     * are needed, the buffers should be sized for 11 corners.
+        So if 10 corners are needed, the buffers should be sized for 11 corners.
-     *
+
-     * If the target is within range, it will be the last corner and have a polygon reference id of zero.
+        If the target is within range, it will be the last corner and have a polygon reference id of zero.
-     *
+        */
-     * @param filter
+        /// Finds the corners in the corridor from the position toward the target. (The straightened path.)
-     *
+        ///  @param[out]	cornerVerts		The corner vertices. [(x, y, z) * cornerCount] [Size: <= maxCorners]
-     * @param[in] navquery The query object used to build the corridor.
+        ///  @param[out]	cornerFlags		The flag for each corner. [(flag) * cornerCount] [Size: <= maxCorners]
-     * @return Corners
+        ///  @param[out]	cornerPolys		The polygon reference for each corner. [(polyRef) * cornerCount] 
-     */
+        ///  								[Size: <= @p maxCorners]
+        ///  @param[in]		maxCorners		The maximum number of corners the buffers can hold.
+        ///  @param[in]		navquery		The query object used to build the corridor.
+        ///  @param[in]		filter			The filter to apply to the operation.
+        /// @return The number of corners returned in the corner buffers. [0 <= value <= @p maxCorners]
         public int FindCorners(ref List<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
+            const float MIN_TARGET_DIST = 0.01f;
+
             var result = navquery.FindStraightPath(m_pos, m_target, m_path, ref corners, maxCorners, 0);
             if (result.Succeeded())
             {
@@ -123,7 +142,7 @@ namespace DotRecast.Detour.Crowd
                 foreach (DtStraightPath spi in corners)
                 {
                     if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > MIN_TARGET_DIST)
+                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                     {
                         break;
                     }
@@ -150,32 +169,28 @@ namespace DotRecast.Detour.Crowd
         }
 
         /**
-     * Attempts to optimize the path if the specified point is visible from the current position.
+        @par
-     *
+
-     * Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
+        Inaccurate locomotion or dynamic obstacle avoidance can force the argent position significantly outside the
-     * original corridor. Over time this can result in the formation of a non-optimal corridor. Non-optimal paths can
+        original corridor. Over time this can result in the formation of a non-optimal corridor. Non-optimal paths can
-     * also form near the corners of tiles.
+        also form near the corners of tiles.
-     *
+
-     * This function uses an efficient local visibility search to try to optimize the corridor between the current
+        This function uses an efficient local visibility search to try to optimize the corridor
-     * position and @p next.
+        between the current position and @p next.
-     *
+
-     * The corridor will change only if @p next is visible from the current position and moving directly toward the
+        The corridor will change only if @p next is visible from the current position and moving directly toward the point
-     * point is better than following the existing path.
+        is better than following the existing path.
-     *
+
-     * The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
+        The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency
-     * the call to match the needs to the agent.
+        of the call to match the needs to the agent.
-     *
+
-     * This function is not suitable for long distance searches.
+        This function is not suitable for long distance searches.
-     *
+        */
-     * @param next
+        /// Attempts to optimize the path if the specified point is visible from the current position.
-     *            The point to search toward. [(x, y, z])
+        ///  @param[in]		next					The point to search toward. [(x, y, z])
-     * @param pathOptimizationRange
+        ///  @param[in]		pathOptimizationRange	The maximum range to search. [Limit: > 0]
-     *            The maximum range to search. [Limit: > 0]
+        ///  @param[in]		navquery				The query object used to build the corridor.
-     * @param navquery
+        ///  @param[in]		filter					The filter to apply to the operation.	
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
-     */
         public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Clamp the ray to max distance.
@@ -187,40 +202,37 @@ namespace DotRecast.Detour.Crowd
                 return;
             }
 
-            // Overshoot a little. This helps to optimize open fields in tiled
+            // Overshoot a little. This helps to optimize open fields in tiled meshes.
-            // meshes.
             dist = Math.Min(dist + 0.01f, pathOptimizationRange);
 
             // Adjust ray length.
             var delta = RcVec3f.Subtract(next, m_pos);
             RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
 
-            var status = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0, out var rayHit);
+            var res = new List<long>();
+            var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, ref res);
             if (status.Succeeded())
             {
-                if (rayHit.path.Count > 1 && rayHit.t > 0.99f)
+                if (res.Count > 1 && t > 0.99f)
                 {
-                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, rayHit.path);
+                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
                 }
             }
         }
 
         /**
-     * Attempts to optimize the path using a local area search. (Partial replanning.)
+        @par
-     *
+
-     * Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
+        Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
-     * original corridor. Over time this can result in the formation of a non-optimal corridor. This function will use a
+        original corridor. Over time this can result in the formation of a non-optimal corridor. This function will use a
-     * local area path search to try to re-optimize the corridor.
+        local area path search to try to re-optimize the corridor.
-     *
+
-     * The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
+        The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
-     * the call to match the needs to the agent.
+        the call to match the needs to the agent.
-     *
+        */
-     * @param navquery
+        /// Attempts to optimize the path using a local area search. (Partial replanning.) 
-     *            The query object used to build the corridor.
+        ///  @param[in]		navquery	The query object used to build the corridor.
-     * @param filter
+        ///  @param[in]		filter		The filter to apply to the operation.	
-     *            The filter to apply to the operation.
-     *
-     */
         public bool OptimizePathTopology(DtNavMeshQuery navquery, IDtQueryFilter filter, int maxIterations)
         {
             if (m_path.Count < 3)
@@ -229,13 +241,13 @@ namespace DotRecast.Detour.Crowd
             }
 
             var res = new List<long>();
-            navquery.InitSlicedFindPath(m_path[0], m_path[m_path.Count - 1], m_pos, m_target, filter, 0);
+            navquery.InitSlicedFindPath(m_path[0], m_path[^1], m_pos, m_target, filter, 0);
             navquery.UpdateSlicedFindPath(maxIterations, out var _);
             var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, res);
+                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
                 return true;
             }
 
@@ -277,28 +289,26 @@ namespace DotRecast.Detour.Crowd
         }
 
         /**
-     * Moves the position from the current location to the desired location, adjusting the corridor as needed to reflect
+        @par
-     * the change.
+
-     *
+        Behavior:
-     * Behavior:
+
-     *
+        - The movement is constrained to the surface of the navigation mesh.
-     * - The movement is constrained to the surface of the navigation mesh. - The corridor is automatically adjusted
+        - The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
-     * (shorted or lengthened) in order to remain valid. - The new position will be located in the adjusted corridor's
+        - The new position will be located in the adjusted corridor's first polygon.
-     * first polygon.
+
-     *
+        The expected use case is that the desired position will be 'near' the current corridor. What is considered 'near'
-     * The expected use case is that the desired position will be 'near' the current corridor. What is considered 'near'
+        depends on local polygon density, query search half extents, etc.
-     * depends on local polygon density, query search extents, etc.
+
-     *
+        The resulting position will differ from the desired position if the desired position is not on the navigation mesh,
-     * The resulting position will differ from the desired position if the desired position is not on the navigation
+        or it can't be reached using a local search.
-     * mesh, or it can't be reached using a local search.
+        */
-     *
+        /// Moves the position from the current location to the desired location, adjusting the corridor 
-     * @param npos
+        /// as needed to reflect the change.
-     *            The desired new position. [(x, y, z)]
+        ///  @param[in]		npos		The desired new position. [(x, y, z)]
-     * @param navquery
+        ///  @param[in]		navquery	The query object used to build the corridor.
-     *            The query object used to build the corridor.
+        ///  @param[in]		filter		The filter to apply to the operation.
-     * @param filter
+        /// @return Returns true if move succeeded.
-     *            The filter to apply to the operation.
-     */
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
@@ -306,7 +316,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, visited);
+                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -323,30 +333,32 @@ namespace DotRecast.Detour.Crowd
         }
 
         /**
-     * Moves the target from the curent location to the desired location, adjusting the corridor as needed to reflect
+        @par
-     * the change. Behavior: - The movement is constrained to the surface of the navigation mesh. - The corridor is
+
-     * automatically adjusted (shorted or lengthened) in order to remain valid. - The new target will be located in the
+        Behavior:
-     * adjusted corridor's last polygon.
+
-     *
+        - The movement is constrained to the surface of the navigation mesh.
-     * The expected use case is that the desired target will be 'near' the current corridor. What is considered 'near'
+        - The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
-     * depends on local polygon density, query search extents, etc. The resulting target will differ from the desired
+        - The new target will be located in the adjusted corridor's last polygon.
-     * target if the desired target is not on the navigation mesh, or it can't be reached using a local search.
+
-     *
+        The expected use case is that the desired target will be 'near' the current corridor. What is considered 'near' depends on local polygon density, query search half extents, etc.
-     * @param npos
+
-     *            The desired new target position. [(x, y, z)]
+        The resulting target will differ from the desired target if the desired target is not on the navigation mesh, or it can't be reached using a local search.
-     * @param navquery
+        */
-     *            The query object used to build the corridor.
+        /// Moves the target from the curent location to the desired location, adjusting the corridor
-     * @param filter
+        /// as needed to reflect the change. 
-     *            The filter to apply to the operation.
+        ///  @param[in]		npos		The desired new target position. [(x, y, z)]
-     */
+        ///  @param[in]		navquery	The query object used to build the corridor.
+        ///  @param[in]		filter		The filter to apply to the operation.
+        /// @return Returns true if move succeeded.
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
             var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
+            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, visited);
+                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, m_path.Count, m_maxPath, visited);
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*
@@ -360,16 +372,16 @@ namespace DotRecast.Detour.Crowd
             return false;
         }
 
-        /**
+        /// @par
-     * Loads a new path and target into the corridor. The current corridor position is expected to be within the first
+        ///
-     * polygon in the path. The target is expected to be in the last polygon.
+        /// The current corridor position is expected to be within the first polygon in the path. The target 
-     *
+        /// is expected to be in the last polygon. 
-     * @warning The size of the path must not exceed the size of corridor's path buffer set during #Init().
+        /// 
-     * @param target
+        /// @warning The size of the path must not exceed the size of corridor's path buffer set during #init().
-     *            The target location within the last polygon of the path. [(x, y, z)]
+        /// Loads a new path and target into the corridor.
-     * @param path
+        ///  @param[in]		target		The target location within the last polygon of the path. [(x, y, z)]
-     *            The path corridor.
+        ///  @param[in]		path		The path corridor. [(polyRef) * @p npolys]
-     */
+        ///  @param[in]		npath		The number of polygons in the path.
         public void SetCorridor(RcVec3f target, List<long> path)
         {
             m_target = target;
@@ -427,19 +439,15 @@ namespace DotRecast.Detour.Crowd
             return true;
         }
 
-        /**
+        /// @par
-     * Checks the current corridor path to see if its polygon references remain valid. The path can be invalidated if
+        ///
-     * there are structural changes to the underlying navigation mesh, or the state of a polygon within the path changes
+        /// The path can be invalidated if there are structural changes to the underlying navigation mesh, or the state of 
-     * resulting in it being filtered out. (E.g. An exclusion or inclusion flag changes.)
+        /// a polygon within the path changes resulting in it being filtered out. (E.g. An exclusion or inclusion flag changes.)
-     *
+        /// Checks the current corridor path to see if its polygon references remain valid.
-     * @param maxLookAhead
+        /// 
-     *            The number of polygons from the beginning of the corridor to search.
+        ///  @param[in]		maxLookAhead	The number of polygons from the beginning of the corridor to search.
-     * @param navquery
+        ///  @param[in]		navquery		The query object used to build the corridor.
-     *            The query object used to build the corridor.
+        ///  @param[in]		filter			The filter to apply to the operation.	
-     * @param filter
-     *            The filter to apply to the operation.
-     * @return
-     */
         public bool IsValid(int maxLookAhead, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Check that all polygons still pass query filter.
@@ -455,59 +463,43 @@ namespace DotRecast.Detour.Crowd
             return true;
         }
 
-        /**
+        /// Gets the current position within the corridor. (In the first polygon.)
-     * Gets the current position within the corridor. (In the first polygon.)
+        /// @return The current position within the corridor.
-     *
-     * @return The current position within the corridor.
-     */
         public RcVec3f GetPos()
         {
             return m_pos;
         }
 
-        /**
+        /// Gets the current target within the corridor. (In the last polygon.)
-     * Gets the current target within the corridor. (In the last polygon.)
+        /// @return The current target within the corridor.
-     *
-     * @return The current target within the corridor.
-     */
         public RcVec3f GetTarget()
         {
             return m_target;
         }
 
-        /**
+        /// The polygon reference id of the first polygon in the corridor, the polygon containing the position.
-     * The polygon reference id of the first polygon in the corridor, the polygon containing the position.
+        /// @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
-     *
-     * @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
-     */
         public long GetFirstPoly()
         {
             return 0 == m_path.Count ? 0 : m_path[0];
         }
 
-        /**
+        /// The polygon reference id of the last polygon in the corridor, the polygon containing the target.
-     * The polygon reference id of the last polygon in the corridor, the polygon containing the target.
+        /// @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
-     *
-     * @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
-     */
         public long GetLastPoly()
         {
             return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
         }
 
-        /**
+        /// The corridor's path.
-     * The corridor's path.
+        /// @return The corridor's path. [(polyRef) * #getPathCount()]
-     */
         public List<long> GetPath()
         {
             return m_path;
         }
 
-        /**
+        /// The number of polygons in the current corridor path.
-     * The number of polygons in the current corridor path.
+        /// @return The number of polygons in the current corridor path.
-     *
-     * @return The number of polygons in the current corridor path.
-     */
         public int GetPathCount()
         {
             return m_path.Count;

src/DotRecast.Detour.Crowd/DtPathQueue.cs

@@ -26,28 +26,29 @@ namespace DotRecast.Detour.Crowd
 {
     public class DtPathQueue
     {
-        private readonly DtCrowdConfig config;
+        private readonly DtCrowdConfig m_config;
-        private readonly LinkedList<DtPathQuery> queue = new LinkedList<DtPathQuery>();
+        private readonly LinkedList<DtPathQuery> m_queue;
 
         public DtPathQueue(DtCrowdConfig config)
         {
-            this.config = config;
+            m_config = config;
+            m_queue = new LinkedList<DtPathQuery>();
         }
 
         public void Update(DtNavMesh navMesh)
         {
-            // Update path request until there is nothing to update or up to maxIters pathfinder iterations has been
+            // Update path request until there is nothing to update
-            // consumed.
+            // or upto maxIters pathfinder iterations has been consumed.
-            int iterCount = config.maxFindPathIterations;
+            int iterCount = m_config.maxFindPathIterations;
             while (iterCount > 0)
             {
-                DtPathQuery q = queue.First?.Value;
+                DtPathQuery q = m_queue.First?.Value;
                 if (q == null)
                 {
                     break;
                 }
 
-                queue.RemoveFirst();
+                m_queue.RemoveFirst();
 
                 // Handle query start.
                 if (q.result.status.IsEmpty())
@@ -70,14 +71,14 @@ namespace DotRecast.Detour.Crowd
 
                 if (!(q.result.status.Failed() || q.result.status.Succeeded()))
                 {
-                    queue.AddFirst(q);
+                    m_queue.AddFirst(q);
                 }
             }
         }
 
         public DtPathQueryResult Request(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter)
         {
-            if (queue.Count >= config.pathQueueSize)
+            if (m_queue.Count >= m_config.pathQueueSize)
             {
                 return null;
             }
@@ -88,7 +89,7 @@ namespace DotRecast.Detour.Crowd
             q.endPos = endPos;
             q.endRef = endRef;
             q.filter = filter;
-            queue.AddLast(q);
+            m_queue.AddLast(q);
             return q.result;
         }
     }

src/DotRecast.Detour.Crowd/DtProximityGrid.cs

@@ -83,30 +83,51 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
-        // 해당 셀 사이즈의 크기로 x ~ y 영역을 찾아, 군집 에이전트를 가져오는 코드
+        public int QueryItems(float minx, float miny, float maxx, float maxy, DtCrowdAgent[] ids, int maxIds)
-        public int QueryItems(float minx, float miny, float maxx, float maxy, ref HashSet<DtCrowdAgent> result)
         {
             int iminx = (int)MathF.Floor(minx * _invCellSize);
             int iminy = (int)MathF.Floor(miny * _invCellSize);
             int imaxx = (int)MathF.Floor(maxx * _invCellSize);
             int imaxy = (int)MathF.Floor(maxy * _invCellSize);
 
+            int n = 0;
+
             for (int y = iminy; y <= imaxy; ++y)
             {
                 for (int x = iminx; x <= imaxx; ++x)
                 {
                     long key = CombineKey(x, y);
-                    if (_items.TryGetValue(key, out var ids))
+                    bool hasPool = _items.TryGetValue(key, out var pool);
+                    if (!hasPool)
                     {
-                        for (int i = 0; i < ids.Count; ++i)
+                        continue;
+                    }
+
+                    for (int idx = 0; idx < pool.Count; ++idx)
+                    {
+                        var item = pool[idx];
+
+                        // Check if the id exists already.
+                        int end = n;
+                        int i = 0;
+                        while (i != end && ids[i] != item)
                         {
-                            result.Add(ids[i]);
+                            ++i;
+                        }
+
+                        // Item not found, add it.
+                        if (i == n)
+                        {
+                            ids[n++] = item;
+
+                            if (n >= maxIds)
+                                return n;
                         }
                     }
                 }
             }
 
-            return result.Count;
+            return n;
         }
 
         public IEnumerable<(long, int)> GetItemCounts()

src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs

@@ -62,10 +62,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeBox(
-                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         public static RcVec3f[] GetHalfEdges(RcVec3f up, RcVec3f forward, RcVec3f extent)

src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs

@@ -38,9 +38,9 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
-            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs

@@ -40,6 +40,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return _bounds;
         }
 
-        public abstract void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        public abstract void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs

@@ -68,10 +68,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public void Rasterize(RcHeightfield hf, RcContext context)
         {
             foreach (var c in colliders)
-                c.Rasterize(hf, telemetry);
+                c.Rasterize(hf, context);
         }
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs

@@ -42,10 +42,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.triangles = triangles;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeConvex(hf, vertices, triangles, area,
-                (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
     }
 }

src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs

@@ -38,10 +38,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeCylinder(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs

@@ -36,10 +36,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeSphere(hf, center, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f center, float radius)

src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs

@@ -58,12 +58,12 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             for (int i = 0; i < triangles.Length; i += 3)
             {
-                RcRasterizations.RasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
+                RcRasterizations.RasterizeTriangle(context, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
-                    (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                    hf, (int)MathF.Floor(flagMergeThreshold / hf.ch));
             }
         }
     }

src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs

@@ -25,6 +25,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
     public interface IDtCollider
     {
         float[] Bounds();
-        void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

src/DotRecast.Detour.Dynamic/DotRecast.Detour.Dynamic.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Detour.Dynamic</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -35,7 +35,7 @@ namespace DotRecast.Detour.Dynamic
         public readonly DtDynamicNavMeshConfig config;
         private readonly RcBuilder builder;
         private readonly Dictionary<long, DtDynamicTile> _tiles = new Dictionary<long, DtDynamicTile>();
-        private readonly RcTelemetry telemetry;
+        private readonly RcContext _context;
         private readonly DtNavMeshParams navMeshParams;
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
@@ -72,7 +72,7 @@ namespace DotRecast.Detour.Dynamic
             }
 
             ;
-            telemetry = new RcTelemetry();
+            _context = new RcContext();
         }
 
         public DtNavMesh NavMesh()
@@ -218,7 +218,7 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            dirty = dirty | tile.Build(builder, config, telemetry);
+            dirty = dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -44,12 +44,12 @@ namespace DotRecast.Detour.Dynamic
             this.voxelTile = voxelTile;
         }
 
-        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcContext context)
         {
             if (dirty)
             {
-                RcHeightfield heightfield = BuildHeightfield(config, telemetry);
+                RcHeightfield heightfield = BuildHeightfield(config, context);
-                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, telemetry);
+                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, context);
                 DtNavMeshCreateParams option = NavMeshCreateParams(voxelTile.tileX, voxelTile.tileZ, voxelTile.cellSize,
                     voxelTile.cellHeight, config, r);
                 meshData = DtNavMeshBuilder.CreateNavMeshData(option);
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcContext context)
         {
             ICollection<long> rasterizedColliders = checkpoint != null
                 ? checkpoint.colliders as ICollection<long>
@@ -74,7 +74,7 @@ namespace DotRecast.Detour.Dynamic
                 if (!rasterizedColliders.Contains(cid))
                 {
                     heightfield.bmax.Y = Math.Max(heightfield.bmax.Y, c.Bounds()[4] + heightfield.ch * 2);
-                    c.Rasterize(heightfield, telemetry);
+                    c.Rasterize(heightfield, context);
                 }
             }
 
@@ -87,7 +87,7 @@ namespace DotRecast.Detour.Dynamic
         }
 
         private RcBuilderResult BuildRecast(RcBuilder builder, DtDynamicNavMeshConfig config, DtVoxelTile vt,
-            RcHeightfield heightfield, RcTelemetry telemetry)
+            RcHeightfield heightfield, RcContext context)
         {
             RcConfig rcConfig = new RcConfig(
                 config.useTiles, config.tileSizeX, config.tileSizeZ,
@@ -100,7 +100,7 @@ namespace DotRecast.Detour.Dynamic
                 Math.Min(DtDynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
                 config.detailSampleDistance, config.detailSampleMaxError,
                 true, true, true, default, true);
-            RcBuilderResult r = builder.Build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, telemetry);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;

src/DotRecast.Detour.Extras/DotRecast.Detour.Extras.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Detour.Extras</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.TileCache/DotRecast.Detour.TileCache.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Detour.TileCache</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs

@@ -24,7 +24,7 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.TileCache.Io;
-using DotRecast.Detour.TileCache.Io.Compress;
+using DotRecast.Recast;
 
 
 namespace DotRecast.Detour.TileCache
@@ -46,10 +46,10 @@ namespace DotRecast.Detour.TileCache
 
             Array.Fill(layer.regs, (short)0x00FF);
             int nsweeps = w;
-            DtLayerSweepSpan[] sweeps = new DtLayerSweepSpan[nsweeps];
+            RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
-                sweeps[i] = new DtLayerSweepSpan();
+                sweeps[i] = new RcLayerSweepSpan();
             }
 
             // Partition walkable area into monotone regions.

src/DotRecast.Detour/DotRecast.Detour.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Detour</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour/DtNavMesh.cs

@@ -284,7 +284,7 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            if (m_tiles[it].salt != salt || m_tiles[it].data.header == null)
+            if (m_tiles[it].salt != salt || m_tiles[it].data == null || m_tiles[it].data.header == null)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
@@ -693,6 +693,7 @@ namespace DotRecast.Detour
             }
         }
 
+        /// Removes external links at specified side.V
         void UnconnectLinks(DtMeshTile tile, DtMeshTile target)
         {
             if (tile == null || target == null)
@@ -735,6 +736,7 @@ namespace DotRecast.Detour
             }
         }
 
+        /// Builds external polygon links for a tile.
         void ConnectExtLinks(DtMeshTile tile, DtMeshTile target, int side)
         {
             if (tile == null)
@@ -820,6 +822,7 @@ namespace DotRecast.Detour
             }
         }
 
+        /// Builds external polygon links for a tile.
         void ConnectExtOffMeshLinks(DtMeshTile tile, DtMeshTile target, int side)
         {
             if (tile == null)
@@ -1058,11 +1061,7 @@ namespace DotRecast.Detour
             return false;
         }
 
-        /**
+        /// Builds internal polygons links for a tile.
-     * Builds internal polygons links for a tile.
-     *
-     * @param tile
-     */
         void BaseOffMeshLinks(DtMeshTile tile)
         {
             if (tile == null)

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -31,14 +31,17 @@ namespace DotRecast.Detour
         /// < Add a vertex at every polygon edge crossing.
         protected readonly DtNavMesh m_nav;
 
+        protected readonly DtNodePool m_tinyNodePool;
         protected readonly DtNodePool m_nodePool;
         protected readonly DtNodeQueue m_openList;
+
         protected DtQueryData m_query;
 
         /// < Sliced query state.
         public DtNavMeshQuery(DtNavMesh nav)
         {
             m_nav = nav;
+            m_tinyNodePool = new DtNodePool();
             m_nodePool = new DtNodePool();
             m_openList = new DtNodeQueue();
         }
@@ -154,22 +157,17 @@ 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 +195,18 @@ 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 +403,13 @@ 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]		ref			The reference id of the polygon.
-        /// @param[in] pos The position to check. [(x, y, z)]
+        ///  @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)
         {
@@ -716,26 +726,29 @@ namespace DotRecast.Detour
             return tiles;
         }
 
-        /**
+        /// @par
-     * Finds a path from the start polygon to the end polygon.
+        ///
-     *
+        /// If the end polygon cannot be reached through the navigation graph,
-     * If the end polygon cannot be reached through the navigation graph, the last polygon in the path will be the
+        /// the last polygon in the path will be the nearest the end polygon.
-     * nearest the end polygon.
+        ///
-     *
+        /// If the path array is to small to hold the full result, it will be filled as 
-     * The start and end positions are used to calculate traversal costs. (The y-values impact the result.)
+        /// far as possible from the start polygon toward the end polygon.
-     *
+        ///
-     * @param startRef
+        /// The start and end positions are used to calculate traversal costs. 
-     *            The reference id of the start polygon.
+        /// (The y-values impact the result.)
-     * @param endRef
+        ///
-     *            The reference id of the end polygon.
+        /// @name Standard Pathfinding Functions
-     * @param startPos
+        /// @{
-     *            A position within the start polygon. [(x, y, z)]
+        /// Finds a path from the start polygon to the end polygon.
-     * @param endPos
+        ///  @param[in]		startRef	The reference id of the start polygon.
-     *            A position within the end polygon. [(x, y, z)]
+        ///  @param[in]		endRef		The reference id of the end polygon.
-     * @param filter
+        ///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
-     *            The polygon filter to apply to the query.
+        ///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
-     * @return Found path
+        ///  @param[in]		filter		The polygon filter to apply to the query.
-     */
+        ///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+        ///  							[(polyRef) * @p pathCount]
+        ///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+        ///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold. [Limit: >= 1]
         public DtStatus FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, ref List<long> path, DtFindPathOption fpo)
         {
             if (null == path)
@@ -786,7 +799,8 @@ namespace DotRecast.Detour
             DtNode lastBestNode = startNode;
             float lastBestNodeCost = startNode.total;
 
-
+            DtRaycastHit rayHit = new DtRaycastHit();
+            rayHit.path = new List<long>();
             while (!m_openList.IsEmpty())
             {
                 // Remove node from open list and put it in closed list.
@@ -886,13 +900,13 @@ namespace DotRecast.Detour
                     if (tryLOS)
                     {
                         var rayStatus = Raycast(parentRef, parentNode.pos, neighbourPos, filter,
-                            DtRaycastOptions.DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
+                            DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
                         if (rayStatus.Succeeded())
                         {
                             foundShortCut = rayHit.t >= 1.0f;
                             if (foundShortCut)
                             {
-                                shortcut = rayHit.path;
+                                shortcut = new List<long>(rayHit.path);
                                 // shortcut found using raycast. Using shorter cost
                                 // instead
                                 cost = parentNode.cost + rayHit.pathCost;
@@ -1082,6 +1096,9 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE;
             }
 
+            var rayHit = new DtRaycastHit();
+            rayHit.path = new List<long>();
+
             int iter = 0;
             while (iter < maxIter && !m_openList.IsEmpty())
             {
@@ -1207,13 +1224,13 @@ namespace DotRecast.Detour
                     if (tryLOS)
                     {
                         status = Raycast(parentRef, parentNode.pos, neighbourPos, m_query.filter,
-                            DtRaycastOptions.DT_RAYCAST_USE_COSTS, grandpaRef, out var rayHit);
+                            DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
                         if (status.Succeeded())
                         {
                             foundShortCut = rayHit.t >= 1.0f;
                             if (foundShortCut)
                             {
-                                shortcut = rayHit.path;
+                                shortcut = new List<long>(rayHit.path);
                                 // shortcut found using raycast. Using shorter cost
                                 // instead
                                 cost = parentNode.cost + rayHit.pathCost;
@@ -1785,9 +1802,9 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            DtNodePool tinyNodePool = new DtNodePool();
+            m_tinyNodePool.Clear();
 
-            DtNode startNode = tinyNodePool.GetNode(startRef);
+            DtNode startNode = m_tinyNodePool.GetNode(startRef);
             startNode.pidx = 0;
             startNode.cost = 0;
             startNode.total = 0;
@@ -1892,7 +1909,7 @@ namespace DotRecast.Detour
                     {
                         for (int k = 0; k < nneis; ++k)
                         {
-                            DtNode neighbourNode = tinyNodePool.GetNode(neis[k]);
+                            DtNode neighbourNode = m_tinyNodePool.GetNode(neis[k]);
                             // Skip if already visited.
                             if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
                             {
@@ -1910,7 +1927,7 @@ namespace DotRecast.Detour
                             }
 
                             // Mark as the node as visited and push to queue.
-                            neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode);
+                            neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
                             neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
                             stack.AddLast(neighbourNode);
                         }
@@ -1925,8 +1942,8 @@ namespace DotRecast.Detour
                 DtNode node = bestNode;
                 do
                 {
-                    DtNode next = tinyNodePool.GetNodeAtIdx(node.pidx);
+                    DtNode next = m_tinyNodePool.GetNodeAtIdx(node.pidx);
-                    node.pidx = tinyNodePool.GetNodeIdx(prev);
+                    node.pidx = m_tinyNodePool.GetNodeIdx(prev);
                     prev = node;
                     node = next;
                 } while (node != null);
@@ -1936,7 +1953,7 @@ namespace DotRecast.Detour
                 do
                 {
                     visited.Add(node.id);
-                    node = tinyNodePool.GetNodeAtIdx(node.pidx);
+                    node = m_tinyNodePool.GetNodeAtIdx(node.pidx);
                 } while (node != null);
             }
 
@@ -2106,6 +2123,59 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
+        /// @par
+        ///
+        /// This method is meant to be used for quick, short distance checks.
+        ///
+        /// If the path array is too small to hold the result, it will be filled as 
+        /// far as possible from the start postion toward the end position.
+        ///
+        /// <b>Using the Hit Parameter (t)</b>
+        /// 
+        /// If the hit parameter is a very high value (FLT_MAX), then the ray has hit 
+        /// the end position. In this case the path represents a valid corridor to the 
+        /// end position and the value of @p hitNormal is undefined.
+        ///
+        /// If the hit parameter is zero, then the start position is on the wall that 
+        /// was hit and the value of @p hitNormal is undefined.
+        ///
+        /// If 0 < t < 1.0 then the following applies:
+        ///
+        /// @code
+        /// distanceToHitBorder = distanceToEndPosition * t
+        /// hitPoint = startPos + (endPos - startPos) * t
+        /// @endcode
+        ///
+        /// <b>Use Case Restriction</b>
+        ///
+        /// The raycast ignores the y-value of the end position. (2D check.) This 
+        /// places significant limits on how it can be used. For example:
+        ///
+        /// Consider a scene where there is a main floor with a second floor balcony 
+        /// that hangs over the main floor. So the first floor mesh extends below the 
+        /// balcony mesh. The start position is somewhere on the first floor. The end 
+        /// position is on the balcony.
+        ///
+        /// The raycast will search toward the end position along the first floor mesh. 
+        /// If it reaches the end position's xz-coordinates it will indicate FLT_MAX
+        /// (no wall hit), meaning it reached the end position. This is one example of why
+        /// this method is meant for short distance checks.
+        ///
+        public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
+            IDtQueryFilter filter,
+            out float t, out RcVec3f hitNormal, ref List<long> path)
+        {
+            DtRaycastHit hit = new DtRaycastHit();
+            hit.path = path;
+
+            DtStatus status = Raycast(startRef, startPos, endPos, filter, 0, ref hit, 0);
+
+            t = hit.t;
+            hitNormal = hit.hitNormal;
+            path = hit.path;
+
+            return status;
+        }
 
         /// @par
         ///
@@ -2159,11 +2229,10 @@ namespace DotRecast.Detour
         /// @param[out] pathCount The number of visited polygons. [opt]
         /// @param[in] maxPath The maximum number of polygons the @p path array can hold.
         /// @returns The status flags for the query.
-        public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options,
+        public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
-            long prevRef, out DtRaycastHit hit)
+            IDtQueryFilter filter, int options,
+            ref DtRaycastHit hit, long prevRef)
         {
-            hit = null;
-
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite() || !endPos.IsFinite()
                 || null == filter || (prevRef != 0 && !m_nav.IsValidPolyRef(prevRef)))
@@ -2171,7 +2240,9 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            hit = new DtRaycastHit();
+            hit.t = 0;
+            hit.path.Clear();
+            hit.pathCost = 0;
 
             RcVec3f[] verts = new RcVec3f[m_nav.GetMaxVertsPerPoly() + 1];
 
@@ -2179,7 +2250,8 @@ namespace DotRecast.Detour
             RcVec3f lastPos = RcVec3f.Zero;
 
             curPos = startPos;
-            var dir = RcVec3f.Subtract(endPos, startPos);
+            RcVec3f dir = RcVec3f.Subtract(endPos, startPos);
+            hit.hitNormal = RcVec3f.Zero;
 
             DtMeshTile prevTile, tile, nextTile;
             DtPoly prevPoly, poly, nextPoly;
@@ -2787,9 +2859,9 @@ namespace DotRecast.Detour
             resultRef.Clear();
             resultParent.Clear();
 
-            DtNodePool tinyNodePool = new DtNodePool();
+            m_tinyNodePool.Clear();
 
-            DtNode startNode = tinyNodePool.GetNode(startRef);
+            DtNode startNode = m_tinyNodePool.GetNode(startRef);
             startNode.pidx = 0;
             startNode.id = startRef;
             startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
@@ -2825,7 +2897,7 @@ namespace DotRecast.Detour
                         continue;
                     }
 
-                    DtNode neighbourNode = tinyNodePool.GetNode(neighbourRef);
+                    DtNode neighbourNode = m_tinyNodePool.GetNode(neighbourRef);
                     // Skip visited.
                     if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
                     {
@@ -2865,7 +2937,7 @@ namespace DotRecast.Detour
                     // Mark node visited, this is done before the overlap test so that
                     // we will not visit the poly again if the test fails.
                     neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
-                    neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode);
+                    neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
 
                     // Check that the polygon does not collide with existing polygons.
 
@@ -3334,15 +3406,18 @@ namespace DotRecast.Detour
             return m_nav;
         }
 
-        /**
+        /// Gets a path from the explored nodes in the previous search.
-     * Gets a path from the explored nodes in the previous search.
+        ///  @param[in]		endRef		The reference id of the end polygon.
-     *
+        ///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.)
-     * @param endRef
+        ///  							[(polyRef) * @p pathCount]
-     *            The reference id of the end polygon.
+        ///  @param[out]	pathCount	The number of polygons returned in the @p path array.
-     * @returns An ordered list of polygon references representing the path. (Start to end.)
+        ///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold. [Limit: >= 0]
-     * @remarks The result of this function depends on the state of the query object. For that reason it should only be
+        ///  @returns		The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if
-     *          used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
+        ///  				@p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL
-     */
+        ///  				if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path.
+        ///  				Otherwise returns DT_SUCCESS.
+        ///  @remarks		The result of this function depends on the state of the query object. For that reason it should only
+        ///  				be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
         public DtStatus GetPathFromDijkstraSearch(long endRef, ref List<long> path)
         {
             if (!m_nav.IsValidPolyRef(endRef) || null == path)
@@ -3352,17 +3427,13 @@ namespace DotRecast.Detour
 
             path.Clear();
 
-            List<DtNode> nodes = m_nodePool.FindNodes(endRef);
+            if (m_nodePool.FindNodes(endRef, out var endNodes) != 1
-            if (nodes.Count != 1)
+                || (endNodes[0].flags & DtNodeFlags.DT_NODE_CLOSED) == 0)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            DtNode endNode = nodes[0];
+            DtNode endNode = endNodes[0];
-            if ((endNode.flags & DtNodeFlags.DT_NODE_CLOSED) == 0)
-            {
-                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
-            }
 
             return GetPathToNode(endNode, ref path);
         }
@@ -3396,10 +3467,11 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
-        /**
+        /// @par
-     * The closed list is the list of polygons that were fully evaluated during the last navigation graph search. (A* or
+        ///
-     * Dijkstra)
+        /// The closed list is the list of polygons that were fully evaluated during 
-     */
+        /// the last navigation graph search. (A* or Dijkstra)
+        /// 
         public bool IsInClosedList(long refs)
         {
             if (m_nodePool == null)
@@ -3407,9 +3479,10 @@ namespace DotRecast.Detour
                 return false;
             }
 
-            foreach (DtNode n in m_nodePool.FindNodes(refs))
+            int n = m_nodePool.FindNodes(refs, out var nodes);
+            for (int i = 0; i < n; ++i)
             {
-                if ((n.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
+                if ((nodes[i].flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
                 {
                     return true;
                 }

src/DotRecast.Detour/DtNode.cs

@@ -25,42 +25,34 @@ namespace DotRecast.Detour
 {
     public class DtNode
     {
-        public readonly int index;
+        public readonly int ptr;
 
-        /** Position of the node. */
+        public RcVec3f pos; // Position of the node.
-        public RcVec3f pos = new RcVec3f();
+        public float cost; // Cost from previous node to current node.
+        public float total; // Cost up to the node.
+        public int pidx; // Index to parent node.
+        public int state; // extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
+        public int flags; // Node flags. A combination of dtNodeFlags.
+        public long id; // Polygon ref the node corresponds to.
+        public List<long> shortcut; // Shortcut found by raycast.
 
-        /** Cost of reaching the given node. */
+        public DtNode(int ptr)
-        public float cost;
-
-        /** Total cost of reaching the goal via the given node including heuristics. */
-        public float total;
-
-        /** Index to parent node. */
-        public int pidx;
-
-        /**
-     * extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
-     */
-        public int state;
-
-        /** Node flags. A combination of dtNodeFlags. */
-        public int flags;
-
-        /** Polygon ref the node corresponds to. */
-        public long id;
-
-        /** Shortcut found by raycast. */
-        public List<long> shortcut;
-
-        public DtNode(int index)
         {
-            this.index = index;
+            this.ptr = ptr;
+        }
+        
+        public static int ComparisonNodeTotal(DtNode a, DtNode b)
+        {
+            int compare = a.total.CompareTo(b.total);
+            if (0 != compare)
+                return compare;
+
+            return a.ptr.CompareTo(b.ptr);
         }
 
         public override string ToString()
         {
-            return "Node [id=" + id + "]";
+            return $"Node [ptr={ptr} id={id} cost={cost} total={total}]";
         }
     }
 }

src/DotRecast.Detour/DtNodePool.cs

@@ -19,40 +19,48 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
+using System.Linq;
 
 namespace DotRecast.Detour
 {
     public class DtNodePool
     {
-        private readonly Dictionary<long, List<DtNode>> m_map = new Dictionary<long, List<DtNode>>();
+        private readonly Dictionary<long, List<DtNode>> m_map;
-        private readonly List<DtNode> m_nodes = new List<DtNode>();
+
+        private int m_nodeCount;
+        private readonly List<DtNode> m_nodes;
 
         public DtNodePool()
         {
+            m_map = new Dictionary<long, List<DtNode>>();
+            m_nodes = new List<DtNode>();
         }
 
         public void Clear()
         {
-            m_nodes.Clear();
             m_map.Clear();
+            m_nodeCount = 0;
         }
 
-        public List<DtNode> FindNodes(long id)
+        public int GetNodeCount()
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
+            return m_nodeCount;
-            ;
+        }
-            if (nodes == null)
+
+        public int FindNodes(long id, out List<DtNode> nodes)
+        {
+            var hasNode = m_map.TryGetValue(id, out nodes);
+            if (hasNode)
             {
-                nodes = new List<DtNode>();
+                return nodes.Count;
             }
 
-            return nodes;
+            return 0;
         }
 
         public DtNode FindNode(long id)
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
+            m_map.TryGetValue(id, out var nodes);
-            ;
             if (nodes != null && 0 != nodes.Count)
             {
                 return nodes[0];
@@ -63,7 +71,7 @@ namespace DotRecast.Detour
 
         public DtNode GetNode(long id, int state)
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
+            m_map.TryGetValue(id, out var nodes);
             if (nodes != null)
             {
                 foreach (DtNode node in nodes)
@@ -85,10 +93,22 @@ namespace DotRecast.Detour
 
         private DtNode Create(long id, int state, List<DtNode> nodes)
         {
-            DtNode node = new DtNode(m_nodes.Count + 1);
+            if (m_nodes.Count <= m_nodeCount)
+            {
+                var newNode = new DtNode(m_nodeCount);
+                m_nodes.Add(newNode);
+            }
+
+            int i = m_nodeCount;
+            m_nodeCount++;
+            var node = m_nodes[i];
+            node.pidx = 0;
+            node.cost = 0;
+            node.total = 0;
             node.id = id;
             node.state = state;
-            m_nodes.Add(node);
+            node.flags = 0;
+            node.shortcut = null;
 
             nodes.Add(node);
             return node;
@@ -96,12 +116,16 @@ namespace DotRecast.Detour
 
         public int GetNodeIdx(DtNode node)
         {
-            return node != null ? node.index : 0;
+            return node != null
+                ? node.ptr + 1
+                : 0;
         }
 
         public DtNode GetNodeAtIdx(int idx)
         {
-            return idx != 0 ? m_nodes[idx - 1] : null;
+            return idx != 0
+                ? m_nodes[idx - 1]
+                : null;
         }
 
         public DtNode GetNode(long refs)
@@ -109,9 +133,9 @@ namespace DotRecast.Detour
             return GetNode(refs, 0);
         }
 
-        public Dictionary<long, List<DtNode>> GetNodeMap()
+        public IEnumerable<DtNode> AsEnumerable()
         {
-            return m_map;
+            return m_nodes.Take(m_nodeCount);
         }
     }
 }

src/DotRecast.Detour/DtNodeQueue.cs

@@ -24,7 +24,12 @@ namespace DotRecast.Detour
 {
     public class DtNodeQueue
     {
-        private readonly RcSortedQueue<DtNode> m_heap = new RcSortedQueue<DtNode>((n1, n2) => n1.total.CompareTo(n2.total));
+        private readonly RcSortedQueue<DtNode> m_heap;
+
+        public DtNodeQueue()
+        {
+            m_heap = new RcSortedQueue<DtNode>(DtNode.ComparisonNodeTotal);
+        }
 
         public int Count()
         {
@@ -43,9 +48,7 @@ namespace DotRecast.Detour
 
         public DtNode Pop()
         {
-            var node = Peek();
+            return m_heap.Dequeue();
-            m_heap.Remove(node);
-            return node;
         }
 
         public void Push(DtNode node)
@@ -61,7 +64,7 @@ namespace DotRecast.Detour
 
         public bool IsEmpty()
         {
-            return 0 == m_heap.Count();
+            return m_heap.IsEmpty();
         }
     }
 }

src/DotRecast.Detour/DtPathUtils.cs

@@ -141,7 +141,7 @@ namespace DotRecast.Detour
             return path;
         }
 
-        public static List<long> MergeCorridorStartMoved(List<long> path, List<long> visited)
+        public static List<long> MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -186,7 +186,7 @@ namespace DotRecast.Detour
             return result;
         }
 
-        public static List<long> MergeCorridorEndMoved(List<long> path, List<long> visited)
+        public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -223,7 +223,7 @@ namespace DotRecast.Detour
             return result;
         }
 
-        public static List<long> MergeCorridorStartShortcut(List<long> path, List<long> visited)
+        public static List<long> MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;

src/DotRecast.Detour/DtRaycastHit.cs

@@ -23,24 +23,24 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
+    /// Provides information about raycast hit
- * Provides information about raycast hit. Filled by NavMeshQuery::raycast
+    /// filled by dtNavMeshQuery::raycast
- */
+    /// @ingroup detour
-    public class DtRaycastHit
+    public struct DtRaycastHit
     {
-        /** The hit parameter. (float.MaxValue if no wall hit.) */
+        /// The hit parameter. (FLT_MAX if no wall hit.)
         public float t;
 
-        /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */
+        /// hitNormal	The normal of the nearest wall hit. [(x, y, z)]
-        public RcVec3f hitNormal = new RcVec3f();
+        public RcVec3f hitNormal;
 
-        /** Visited polygons. */
+        /// The index of the edge on the final polygon where the wall was hit.
-        public readonly List<long> path = new List<long>();
-
-        /** The cost of the path until hit. */
-        public float pathCost;
-
-        /** The index of the edge on the readonly polygon where the wall was hit. */
         public int hitEdgeIndex;
+
+        /// Pointer to an array of reference ids of the visited polygons. [opt]
+        public List<long> path;
+
+        ///  The cost of the path until hit.
+        public float pathCost;
     }
 }

src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj

@@ -7,11 +7,12 @@
     <PackageId>DotRecast.Recast.Demo</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs

@@ -1200,45 +1200,39 @@ public class RecastDebugDraw : DebugDraw
             float off = 0.5f;
             Begin(DebugDrawPrimitives.POINTS, 4.0f);
 
-            foreach (List<DtNode> nodes in pool.GetNodeMap().Values)
+            foreach (DtNode node in pool.AsEnumerable())
             {
-                foreach (DtNode node in nodes)
+                if (node == null)
                 {
-                    if (node == null)
+                    continue;
-                    {
-                        continue;
-                    }
-
-                    Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 255));
                 }
+
+                Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 255));
             }
 
             End();
 
             Begin(DebugDrawPrimitives.LINES, 2.0f);
-            foreach (List<DtNode> nodes in pool.GetNodeMap().Values)
+            foreach (DtNode node in pool.AsEnumerable())
             {
-                foreach (DtNode node in nodes)
+                if (node == null)
                 {
-                    if (node == null)
+                    continue;
-                    {
-                        continue;
-                    }
-
-                    if (node.pidx == 0)
-                    {
-                        continue;
-                    }
-
-                    DtNode parent = pool.GetNodeAtIdx(node.pidx);
-                    if (parent == null)
-                    {
-                        continue;
-                    }
-
-                    Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 128));
-                    Vertex(parent.pos.X, parent.pos.Y + off, parent.pos.Z, DuRGBA(255, 192, 0, 128));
                 }
+
+                if (node.pidx == 0)
+                {
+                    continue;
+                }
+
+                DtNode parent = pool.GetNodeAtIdx(node.pidx);
+                if (parent == null)
+                {
+                    continue;
+                }
+
+                Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 128));
+                Vertex(parent.pos.X, parent.pos.Y + off, parent.pos.Z, DuRGBA(255, 192, 0, 128));
             }
 
             End();

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -43,7 +43,6 @@ using DotRecast.Recast.Demo.Messages;
 using DotRecast.Recast.Toolset.Geom;
 using DotRecast.Recast.Demo.Tools;
 using DotRecast.Recast.Demo.UI;
-using DotRecast.Recast.Toolset;
 using MouseButton = Silk.NET.Input.MouseButton;
 using Window = Silk.NET.Windowing.Window;
 
@@ -111,7 +110,8 @@ public class RecastDemo : IRecastDemoChannel
     private bool markerPositionSet;
     private RcVec3f markerPosition = new RcVec3f();
 
-    private RcToolsetView toolset;
+    private RcMenuView _menuView;
+    private RcToolsetView _toolsetView;
     private RcSettingsView settingsView;
     private RcLogView logView;
 
@@ -319,7 +319,7 @@ public class RecastDemo : IRecastDemoChannel
             if (null != mesh)
             {
                 _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
-                toolset.SetEnabled(true);
+                _toolsetView.SetEnabled(true);
             }
         }
         catch (Exception e)
@@ -380,10 +380,11 @@ public class RecastDemo : IRecastDemoChannel
         DemoInputGeomProvider geom = LoadInputMesh("nav_test.obj");
         _sample = new DemoSample(geom, ImmutableArray<RcBuilderResult>.Empty, null);
         
+        _menuView = new RcMenuView();
         settingsView = new RcSettingsView(this);
         settingsView.SetSample(_sample);
 
-        toolset = new RcToolsetView(
+        _toolsetView = new RcToolsetView(
             new TestNavmeshSampleTool(),
             new TileSampleTool(),
             new ObstacleSampleTool(),
@@ -394,10 +395,10 @@ public class RecastDemo : IRecastDemoChannel
             new JumpLinkBuilderSampleTool(),
             new DynamicUpdateSampleTool()
         );
-        toolset.SetEnabled(true);
+        _toolsetView.SetEnabled(true);
         logView = new RcLogView();
 
-        _canvas = new RcCanvas(window, settingsView, toolset, logView);
+        _canvas = new RcCanvas(window, _menuView, settingsView, _toolsetView, logView);
 
         var vendor = _gl.GetStringS(GLEnum.Vendor);
         var version = _gl.GetStringS(GLEnum.Version);
@@ -504,7 +505,7 @@ public class RecastDemo : IRecastDemoChannel
             timeAcc -= DELTA_TIME;
             if (simIter < 5 && _sample != null)
             {
-                var tool = toolset.GetTool();
+                var tool = _toolsetView.GetTool();
                 if (null != tool)
                 {
                     tool.HandleUpdate(DELTA_TIME);
@@ -591,7 +592,7 @@ public class RecastDemo : IRecastDemoChannel
             }
 
             _sample.SetChanged(false);
-            toolset.SetSample(_sample);
+            _toolsetView.SetSample(_sample);
         }
 
         if (_messages.TryDequeue(out var msg))
@@ -620,7 +621,7 @@ public class RecastDemo : IRecastDemoChannel
         dd.Fog(camr * 0.1f, camr * 1.25f);
         renderer.Render(_sample, settingsView.GetDrawMode());
 
-        ISampleTool sampleTool = toolset.GetTool();
+        ISampleTool sampleTool = _toolsetView.GetTool();
         if (sampleTool != null)
         {
             sampleTool.HandleRender(renderer);
@@ -707,7 +708,7 @@ public class RecastDemo : IRecastDemoChannel
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());
-        toolset.SetSample(_sample);
+        _toolsetView.SetSample(_sample);
 
         Logger.Information($"build times");
         Logger.Information($"-----------------------------------------");
@@ -800,7 +801,7 @@ public class RecastDemo : IRecastDemoChannel
         RcVec3f rayDir = new RcVec3f(rayEnd.X - rayStart.X, rayEnd.Y - rayStart.Y, rayEnd.Z - rayStart.Z);
         rayDir = RcVec3f.Normalize(rayDir);
 
-        ISampleTool raySampleTool = toolset.GetTool();
+        ISampleTool raySampleTool = _toolsetView.GetTool();
 
         if (raySampleTool != null)
         {

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

@@ -160,15 +160,11 @@ public class ConvexVolumeSampleTool : ISampleTool
         var geom = _sample.GetInputGeom();
         if (shift)
         {
-            _tool.RemoveByPos(geom, p);
+            _tool.TryRemove(geom, p, out var volume);
         }
         else
         {
-            if (_tool.PlottingShape(p, out var pts, out var hull))
+            _tool.TryAdd(geom, p, _areaType, _boxDescent, _boxHeight, _polyOffset, out var volume);
-            {
-                var vol = RcConvexVolumeTool.CreateConvexVolume(pts, hull, _areaType, _boxDescent, _boxHeight, _polyOffset);
-                _tool.Add(geom, vol);
-            }
         }
     }
 

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

@@ -118,7 +118,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
                 ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
             }
 
-            ImGui.Text($"Update Time: {_tool.GetCrowdUpdateTime()} ms");
+            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime()} ms");
+            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime()} ms");
+            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime()} ms");
+            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime()} ms");
+            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime()} ms");
         }
     }
 

src/DotRecast.Recast.Demo/UI/RcMenuView.cs

@@ -0,0 +1,59 @@
+using DotRecast.Core;
+using ImGuiNET;
+
+namespace DotRecast.Recast.Demo.UI;
+
+public class RcMenuView : IRcView
+{
+    private RcCanvas _canvas;
+
+    public void Bind(RcCanvas canvas)
+    {
+        _canvas = canvas;
+    }
+
+    public bool IsHovered()
+    {
+        //throw new System.NotImplementedException();
+        return false;
+    }
+
+    public void Update(double dt)
+    {
+        //throw new System.NotImplementedException();
+    }
+
+    public void Draw(double dt)
+    {
+        if (ImGui.BeginMainMenuBar())
+        {
+            if (ImGui.BeginMenu("Help"))
+            {
+                if (ImGui.MenuItem("Repository"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast");
+                }
+                
+                if (ImGui.MenuItem("Nuget"))
+                {
+                    RcProcess.OpenUrl("https://www.nuget.org/packages/DotRecast.Core/");
+                }
+
+                ImGui.Separator();
+                if (ImGui.MenuItem("Issue Tracker"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast/issues");
+                }
+
+                if (ImGui.MenuItem("Release Notes"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md");
+                }
+
+                ImGui.EndMenu();
+            }
+
+            ImGui.EndMainMenuBar();
+        }
+    }
+}

src/DotRecast.Recast.Toolset/DotRecast.Recast.Toolset.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Recast.Toolset</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs

@@ -74,7 +74,7 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
 
-        public RcConvexVolume RemoveByPos(IInputGeomProvider geom, RcVec3f pos)
+        public bool TryRemove(IInputGeomProvider geom, RcVec3f pos, out RcConvexVolume volume)
         {
             // Delete
             int nearestIndex = -1;
@@ -90,26 +90,57 @@ namespace DotRecast.Recast.Toolset.Tools
 
             // If end point close enough, delete it.
             if (nearestIndex == -1)
-                return null;
+            {
+                volume = null;
+                return false;
+            }
 
             var removal = geom.ConvexVolumes()[nearestIndex];
             geom.ConvexVolumes().RemoveAt(nearestIndex);
-            return removal;
+            volume = removal;
+            return null != volume;
         }
 
-        public void Add(IInputGeomProvider geom, RcConvexVolume volume)
+        public bool TryAdd(IInputGeomProvider geom, RcVec3f p, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset, out RcConvexVolume volume)
         {
-            geom.AddConvexVolume(volume);
+            // Create
+
+            // If clicked on that last pt, create the shape.
+            if (_pts.Count > 0 && RcVec3f.DistanceSquared(p, _pts[^1]) < 0.2f * 0.2f)
+            {
+                // 
+                if (_hull.Count > 2)
+                {
+                    volume = CreateConvexVolume(_pts, _hull, areaType, boxDescent, boxHeight, polyOffset);
+                    geom.AddConvexVolume(volume);
+                }
+
+                _pts.Clear();
+                _hull.Clear();
+            }
+            else
+            {
+                // Add new point
+                _pts.Add(p);
+
+                // Update hull.
+                if (_pts.Count > 1)
+                {
+                    _hull.Clear();
+                    _hull.AddRange(RcConvexUtils.Convexhull(_pts));
+                }
+                else
+                {
+                    _hull.Clear();
+                }
+            }
+
+            volume = null;
+            return false;
         }
 
         public static RcConvexVolume CreateConvexVolume(List<RcVec3f> pts, List<int> hull, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset)
         {
-            // 
-            if (hull.Count <= 2)
-            {
-                return null;
-            }
-
             // Create shape.
             float[] verts = new float[hull.Count * 3];
             for (int i = 0; i < hull.Count; ++i)

src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs

@@ -1,6 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
@@ -14,20 +17,28 @@ namespace DotRecast.Recast.Toolset.Tools
         private RcCrowdAgentProfilingToolConfig _cfg;
 
         private DtCrowdConfig _crowdCfg;
-        private DtCrowd crowd;
+        private DtCrowd _crowd;
         private readonly DtCrowdAgentConfig _agCfg;
 
-        private DtNavMesh navMesh;
+        private DtNavMesh _navMesh;
 
-        private RcRand rnd;
+        private IRcRand _rand;
         private readonly List<DtPolyPoint> _polyPoints;
-        private long crowdUpdateTime;
+
+        private const int SamplingCount = 500;
+        private long _samplingUpdateTime;
+        private readonly RcCyclicBuffer<long> _updateTimes;
+        private long _curUpdateTime;
+        private long _avgUpdateTime;
+        private long _minUpdateTime;
+        private long _maxUpdateTime;
 
         public RcCrowdAgentProfilingTool()
         {
             _cfg = new RcCrowdAgentProfilingToolConfig();
             _agCfg = new DtCrowdAgentConfig();
             _polyPoints = new List<DtPolyPoint>();
+            _updateTimes = new RcCyclicBuffer<long>(SamplingCount);
         }
 
         public string GetName()
@@ -47,12 +58,12 @@ namespace DotRecast.Recast.Toolset.Tools
 
         public DtCrowd GetCrowd()
         {
-            return crowd;
+            return _crowd;
         }
 
         public void Setup(float maxAgentRadius, DtNavMesh nav)
         {
-            navMesh = nav;
+            _navMesh = nav;
             if (nav != null)
             {
                 _crowdCfg = new DtCrowdConfig(maxAgentRadius);
@@ -76,7 +87,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
         private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
         {
-            return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
+            return navquery.FindRandomPoint(filter, _rand, out var randomRef, out randomPt);
         }
 
         private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
@@ -86,8 +97,8 @@ namespace DotRecast.Recast.Toolset.Tools
             if (0 >= _polyPoints.Count)
                 return DtStatus.DT_FAILURE;
 
-            int zone = (int)(rnd.Next() * _polyPoints.Count);
+            int zone = (int)(_rand.Next() * _polyPoints.Count);
-            return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, rnd,
+            return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, _rand,
                 out var randomRef, out randomPt);
         }
 
@@ -95,13 +106,13 @@ namespace DotRecast.Recast.Toolset.Tools
         {
             _polyPoints.Clear();
             IDtQueryFilter filter = new DtQueryDefaultFilter();
-            DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+            DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
             for (int i = 0; i < _cfg.numberOfZones; i++)
             {
                 float zoneSeparation = _cfg.zoneRadius * _cfg.zoneRadius * 16;
                 for (int k = 0; k < 100; k++)
                 {
-                    var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt);
+                    var status = navquery.FindRandomPoint(filter, _rand, out var randomRef, out var randomPt);
                     if (status.Succeeded())
                     {
                         bool valid = true;
@@ -126,57 +137,65 @@ namespace DotRecast.Recast.Toolset.Tools
 
         private void CreateCrowd()
         {
-            crowd = new DtCrowd(_crowdCfg, navMesh, __ => new DtQueryDefaultFilter(
+            _crowd = new DtCrowd(_crowdCfg, _navMesh, __ => new DtQueryDefaultFilter(
                 SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
                 SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
                 new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f })
             );
 
-            DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(crowd.GetObstacleAvoidanceParams(0));
+            DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(_crowd.GetObstacleAvoidanceParams(0));
             // Low (11)
             option.velBias = 0.5f;
             option.adaptiveDivs = 5;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 1;
-            crowd.SetObstacleAvoidanceParams(0, option);
+            _crowd.SetObstacleAvoidanceParams(0, option);
             // Medium (22)
             option.velBias = 0.5f;
             option.adaptiveDivs = 5;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 2;
-            crowd.SetObstacleAvoidanceParams(1, option);
+            _crowd.SetObstacleAvoidanceParams(1, option);
             // Good (45)
             option.velBias = 0.5f;
             option.adaptiveDivs = 7;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 3;
-            crowd.SetObstacleAvoidanceParams(2, option);
+            _crowd.SetObstacleAvoidanceParams(2, option);
             // High (66)
             option.velBias = 0.5f;
             option.adaptiveDivs = 7;
             option.adaptiveRings = 3;
             option.adaptiveDepth = 3;
-            crowd.SetObstacleAvoidanceParams(3, option);
+            _crowd.SetObstacleAvoidanceParams(3, option);
         }
 
         public void StartProfiling(float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
         {
-            if (null == navMesh)
+            if (null == _navMesh)
                 return;
 
-            rnd = new RcRand(_cfg.randomSeed);
+            // for benchmark
+            _updateTimes.Clear();
+            _samplingUpdateTime = 0;
+            _curUpdateTime = 0;
+            _avgUpdateTime = 0;
+            _minUpdateTime = 0;
+            _maxUpdateTime = 0;
+
+            _rand = new RcRand(_cfg.randomSeed);
             CreateCrowd();
             CreateZones();
-            DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+            DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
             IDtQueryFilter filter = new DtQueryDefaultFilter();
             for (int i = 0; i < _cfg.agents; i++)
             {
-                float tr = rnd.Next();
+                float tr = _rand.Next();
                 RcCrowdAgentType type = RcCrowdAgentType.MOB;
                 float mobsPcnt = _cfg.percentMobs / 100f;
                 if (tr > mobsPcnt)
                 {
-                    tr = rnd.Next();
+                    tr = _rand.Next();
                     float travellerPcnt = _cfg.percentTravellers / 100f;
                     if (tr > travellerPcnt)
                     {
@@ -213,19 +232,19 @@ namespace DotRecast.Recast.Toolset.Tools
         public void Update(float dt)
         {
             long startTime = RcFrequency.Ticks;
-            if (crowd != null)
+            if (_crowd != null)
             {
-                crowd.Config().pathQueueSize = _cfg.pathQueueSize;
+                _crowd.Config().pathQueueSize = _cfg.pathQueueSize;
-                crowd.Config().maxFindPathIterations = _cfg.maxIterations;
+                _crowd.Config().maxFindPathIterations = _cfg.maxIterations;
-                crowd.Update(dt, null);
+                _crowd.Update(dt, null);
             }
 
             long endTime = RcFrequency.Ticks;
-            if (crowd != null)
+            if (_crowd != null)
             {
-                DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+                DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
                 IDtQueryFilter filter = new DtQueryDefaultFilter();
-                foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
+                foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
                 {
                     if (NeedsNewTarget(ag))
                     {
@@ -246,20 +265,28 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            crowdUpdateTime = (endTime - startTime) / TimeSpan.TicksPerMillisecond;
+            var currentTime = endTime - startTime;
+            _updateTimes.PushBack(currentTime);
+
+            // for benchmark
+            _samplingUpdateTime = _updateTimes.Sum() / TimeSpan.TicksPerMillisecond;
+            _curUpdateTime = currentTime / TimeSpan.TicksPerMillisecond;
+            _avgUpdateTime = (long)(_updateTimes.Average() / TimeSpan.TicksPerMillisecond);
+            _minUpdateTime = _updateTimes.Min() / TimeSpan.TicksPerMillisecond;
+            _maxUpdateTime = _updateTimes.Max() / TimeSpan.TicksPerMillisecond;
         }
 
         private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
         {
             // Move somewhere
-            var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
+            var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
             if (status.Succeeded())
             {
-                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, rnd,
+                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, _rand,
                     out var randomRef, out var randomPt);
                 if (status.Succeeded())
                 {
-                    crowd.RequestMoveTarget(ag, randomRef, randomPt);
+                    _crowd.RequestMoveTarget(ag, randomRef, randomPt);
                 }
             }
         }
@@ -267,14 +294,14 @@ namespace DotRecast.Recast.Toolset.Tools
         private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
         {
             // Move somewhere close
-            var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
+            var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
             if (status.Succeeded())
             {
-                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, rnd,
+                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, _rand,
                     out var randomRef, out var randomPt);
                 if (status.Succeeded())
                 {
-                    crowd.RequestMoveTarget(ag, randomRef, randomPt);
+                    _crowd.RequestMoveTarget(ag, randomRef, randomPt);
                 }
             }
         }
@@ -294,7 +321,7 @@ namespace DotRecast.Recast.Toolset.Tools
             if (0 < potentialTargets.Count)
             {
                 potentialTargets.Shuffle();
-                crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
+                _crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
             }
         }
 
@@ -321,14 +348,14 @@ namespace DotRecast.Recast.Toolset.Tools
         {
             DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
             ap.userData = new RcCrowdAgentData(type, p);
-            return crowd.AddAgent(p, ap);
+            return _crowd.AddAgent(p, ap);
         }
 
         public void UpdateAgentParams()
         {
-            if (crowd != null)
+            if (_crowd != null)
             {
-                foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
+                foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
                 {
                     DtCrowdAgentParams option = new DtCrowdAgentParams();
                     option.radius = ag.option.radius;
@@ -342,14 +369,34 @@ namespace DotRecast.Recast.Toolset.Tools
                     option.updateFlags = _agCfg.GetUpdateFlags();
                     option.obstacleAvoidanceType = _agCfg.obstacleAvoidanceType;
                     option.separationWeight = _agCfg.separationWeight;
-                    crowd.UpdateAgentParameters(ag, option);
+                    _crowd.UpdateAgentParameters(ag, option);
                 }
             }
         }
 
+        public long GetCrowdUpdateSamplingTime()
+        {
+            return _samplingUpdateTime;
+        }
+
         public long GetCrowdUpdateTime()
         {
-            return crowdUpdateTime;
+            return _curUpdateTime;
+        }
+
+        public long GetCrowdUpdateAvgTime()
+        {
+            return _avgUpdateTime;
+        }
+
+        public long GetCrowdUpdateMinTime()
+        {
+            return _minUpdateTime;
+        }
+
+        public long GetCrowdUpdateMaxTime()
+        {
+            return _maxUpdateTime;
         }
     }
 }

src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs

@@ -22,30 +22,30 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> polys, ref List<RcVec3f> smoothPath)
+            ref List<long> pathIterPolys, ref List<RcVec3f> smoothPath)
         {
             if (startRef == 0 || endRef == 0)
             {
-                polys?.Clear();
+                pathIterPolys?.Clear();
                 smoothPath?.Clear();
 
                 return DtStatus.DT_FAILURE;
             }
 
-            polys ??= new List<long>();
+            pathIterPolys ??= new List<long>();
             smoothPath ??= new List<RcVec3f>();
 
-            polys.Clear();
+            pathIterPolys.Clear();
             smoothPath.Clear();
 
             var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
-            navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref polys, opt);
+            navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref pathIterPolys, opt);
-            if (0 >= polys.Count)
+            if (0 >= pathIterPolys.Count)
                 return DtStatus.DT_FAILURE;
 
             // Iterate over the path to find smooth path on the detail mesh surface.
             navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
-            navQuery.ClosestPointOnPoly(polys[polys.Count - 1], endPt, out var targetPos, out var _);
+            navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
 
             float STEP_SIZE = 0.5f;
             float SLOP = 0.01f;
@@ -56,11 +56,11 @@ namespace DotRecast.Recast.Toolset.Tools
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
-            while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
+            while (0 < pathIterPolys.Count && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
-                        polys, out var steerPos, out var steerPosFlag, out var steerPosRef))
+                        pathIterPolys, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
@@ -88,14 +88,14 @@ namespace DotRecast.Recast.Toolset.Tools
                 RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited);
+                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, ref visited);
 
                 iterPos = result;
 
-                polys = DtPathUtils.MergeCorridorStartMoved(polys, visited);
+                pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
-                polys = DtPathUtils.FixupShortcuts(polys, navQuery);
+                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
 
-                var status = navQuery.GetPolyHeight(polys[0], result, out var h);
+                var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())
                 {
                     iterPos.Y = h;
@@ -121,16 +121,16 @@ namespace DotRecast.Recast.Toolset.Tools
 
                     // Advance the path up to and over the off-mesh connection.
                     long prevRef = 0;
-                    long polyRef = polys[0];
+                    long polyRef = pathIterPolys[0];
                     int npos = 0;
-                    while (npos < polys.Count && polyRef != steerPosRef)
+                    while (npos < pathIterPolys.Count && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
-                        polyRef = polys[npos];
+                        polyRef = pathIterPolys[npos];
                         npos++;
                     }
 
-                    polys = polys.GetRange(npos, polys.Count - npos);
+                    pathIterPolys = pathIterPolys.GetRange(npos, pathIterPolys.Count - npos);
 
                     // Handle the connection.
                     var status2 = navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);
@@ -148,7 +148,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                         // Move position at the other side of the off-mesh link.
                         iterPos = endPos;
-                        navQuery.GetPolyHeight(polys[0], iterPos, out var eh);
+                        navQuery.GetPolyHeight(pathIterPolys[0], iterPos, out var eh);
                         iterPos.Y = eh;
                     }
                 }
@@ -257,16 +257,17 @@ namespace DotRecast.Recast.Toolset.Tools
                 return DtStatus.DT_FAILURE;
             }
 
-            var status = navQuery.Raycast(startRef, startPos, endPos, filter, 0, 0, out var rayHit);
+            var path = new List<long>();
+            var status = navQuery.Raycast(startRef, startPos, endPos, filter, out var t, out var hitNormal2, ref path);
             if (!status.Succeeded())
             {
                 return status;
             }
 
             // results ...
-            polys = rayHit.path;
+            polys = path;
 
-            if (rayHit.t > 1)
+            if (t > 1)
             {
                 // No hit
                 hitPos = endPos;
@@ -275,15 +276,15 @@ namespace DotRecast.Recast.Toolset.Tools
             else
             {
                 // Hit
-                hitPos = RcVec3f.Lerp(startPos, endPos, rayHit.t);
+                hitPos = RcVec3f.Lerp(startPos, endPos, t);
-                hitNormal = rayHit.hitNormal;
+                hitNormal = hitNormal2;
                 hitResult = true;
             }
 
             // Adjust height.
-            if (rayHit.path.Count > 0)
+            if (path.Count > 0)
             {
-                var result = navQuery.GetPolyHeight(rayHit.path[rayHit.path.Count - 1], hitPos, out var h);
+                var result = navQuery.GetPolyHeight(path[path.Count - 1], hitPos, out var h);
                 if (result.Succeeded())
                 {
                     hitPos.Y = h;

src/DotRecast.Recast/DotRecast.Recast.csproj

@@ -5,11 +5,12 @@
     <PackageId>DotRecast.Recast</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Recast/RcAreas.cs

@@ -44,7 +44,7 @@ namespace DotRecast.Recast
         /// @param[in]		erosionRadius		The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
         /// @param[in,out]	compactHeightfield	The populated compact heightfield to erode.
         /// @returns True if the operation completed successfully.
-        public static void ErodeWalkableArea(RcTelemetry context, int erosionRadius, RcCompactHeightfield compactHeightfield)
+        public static void ErodeWalkableArea(RcContext context, int erosionRadius, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -261,7 +261,7 @@ namespace DotRecast.Recast
         /// @param[in,out]	context		The build context to use during the operation.
         /// @param[in,out]	compactHeightfield		A populated compact heightfield.
         /// @returns True if the operation completed successfully.
-        public static bool MedianFilterWalkableArea(RcTelemetry context, RcCompactHeightfield compactHeightfield)
+        public static bool MedianFilterWalkableArea(RcContext context, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -344,7 +344,7 @@ namespace DotRecast.Recast
         /// @param[in]		boxMaxBounds		The maximum extents of the bounding box. [(x, y, z)] [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkBoxArea(RcTelemetry context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
+        public static void MarkBoxArea(RcContext context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_BOX_AREA);
 
@@ -446,7 +446,7 @@ namespace DotRecast.Recast
         /// @param[in]		maxY				The height of the top of the polygon. [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkConvexPolyArea(RcTelemetry context, float[] verts,
+        public static void MarkConvexPolyArea(RcContext context, float[] verts,
             float minY, float maxY, RcAreaModification areaId,
             RcCompactHeightfield compactHeightfield)
         {
@@ -567,7 +567,7 @@ namespace DotRecast.Recast
         /// @param[in]		height				The height of the cylinder. [Units: wu] [Limit: > 0]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkCylinderArea(RcTelemetry context, float[] position, float radius, float height,
+        public static void MarkCylinderArea(RcContext context, float[] position, float radius, float height,
             RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);

src/DotRecast.Recast/RcAxis.cs

@@ -0,0 +1,9 @@
+namespace DotRecast.Recast
+{
+    public static class RcAxis
+    {
+        public const int RC_AXIS_X = 0;
+        public const int RC_AXIS_Y = 1;
+        public const int RC_AXIS_Z = 2;
+    };
+}

src/DotRecast.Recast/RcBuilder.cs

@@ -162,62 +162,50 @@ namespace DotRecast.Recast
         public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
-            RcTelemetry ctx = new RcTelemetry();
+            RcContext ctx = new RcContext();
             //
             // Step 1. Rasterize input polygon soup.
             //
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
-            return Build(builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid, ctx);
+            return Build(ctx, builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid);
         }
 
-        public RcBuilderResult Build(int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, RcTelemetry ctx)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
-            FilterHeightfield(solid, cfg, ctx);
+            FilterHeightfield(ctx, solid, cfg);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, cfg, ctx, solid);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
 
-            // Partition the heightfield so that we can use simple algorithm later
+            // Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
-            // to triangulate the walkable areas.
             // There are 3 partitioning methods, each with some pros and cons:
             // 1) Watershed partitioning
-            // - the classic Recast partitioning
+            //   - the classic Recast partitioning
-            // - creates the nicest tessellation
+            //   - creates the nicest tessellation
-            // - usually slowest
+            //   - usually slowest
-            // - partitions the heightfield into nice regions without holes or
+            //   - partitions the heightfield into nice regions without holes or overlaps
-            // overlaps
+            //   - the are some corner cases where this method creates produces holes and overlaps
-            // - the are some corner cases where this method creates produces holes
+            //      - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
-            // and overlaps
+            //      - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
-            // - holes may appear when a small obstacles is close to large open area
+            //   * generally the best choice if you precompute the navmesh, use this if you have large open areas
-            // (triangulation can handle this)
+            // 2) Monotone partitioning
-            // - overlaps may occur if you have narrow spiral corridors (i.e
+            //   - fastest
-            // stairs), this make triangulation to fail
+            //   - partitions the heightfield into regions without holes and overlaps (guaranteed)
-            // * generally the best choice if you precompute the navmesh, use this
+            //   - creates long thin polygons, which sometimes causes paths with detours
-            // if you have large open areas
+            //   * use this if you want fast navmesh generation
-            // 2) Monotone partioning
-            // - fastest
-            // - partitions the heightfield into regions without holes and overlaps
-            // (guaranteed)
-            // - creates long thin polygons, which sometimes causes paths with
-            // detours
-            // * use this if you want fast navmesh generation
             // 3) Layer partitoining
-            // - quite fast
+            //   - quite fast
-            // - partitions the heighfield into non-overlapping regions
+            //   - partitions the heighfield into non-overlapping regions
-            // - relies on the triangulation code to cope with holes (thus slower
+            //   - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)
-            // than monotone partitioning)
+            //   - produces better triangles than monotone partitioning
-            // - produces better triangles than monotone partitioning
+            //   - does not have the corner cases of watershed partitioning
-            // - does not have the corner cases of watershed partitioning
+            //   - can be slow and create a bit ugly tessellation (still better than monotone)
-            // - can be slow and create a bit ugly tessellation (still better than
+            //     if you have large open areas with small obstacles (not a problem if you use tiles)
-            // monotone)
+            //   * good choice to use for tiled navmesh with medium and small sized tiles
-            // if you have large open areas with small obstacles (not a problem if
-            // you use tiles)
-            // * good choice to use for tiled navmesh with medium and small sized
-            // tiles
 
             if (cfg.Partition == RcPartitionType.WATERSHED.Value)
             {
-                // Prepare for region partitioning, by calculating distance field
+                // Prepare for region partitioning, by calculating distance field along the walkable surface.
-                // along the walkable surface.
                 RcRegions.BuildDistanceField(ctx, chf);
+                
                 // Partition the walkable surface into simple regions without holes.
                 RcRegions.BuildRegions(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea);
             }
@@ -259,7 +247,7 @@ namespace DotRecast.Recast
         /*
          * Step 2. Filter walkable surfaces.
          */
-        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcTelemetry ctx)
+        private void FilterHeightfield(RcContext ctx, RcHeightfield solid, RcConfig cfg)
         {
             // Once all geometry is rasterized, we do initial pass of filtering to
             // remove unwanted overhangs caused by the conservative rasterization
@@ -283,7 +271,7 @@ namespace DotRecast.Recast
         /*
          * Step 3. Partition walkable surface to simple regions.
          */
-        private RcCompactHeightfield BuildCompactHeightfield(IInputGeomProvider geom, RcConfig cfg, RcTelemetry ctx, RcHeightfield solid)
+        private RcCompactHeightfield BuildCompactHeightfield(RcContext ctx, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
             // Compact the heightfield so that it is faster to handle from now on.
             // This will result more cache coherent data as well as the neighbours
@@ -306,11 +294,13 @@ namespace DotRecast.Recast
 
         public RcHeightfieldLayerSet BuildLayers(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
-            RcTelemetry ctx = new RcTelemetry();
+            RcContext ctx = new RcContext();
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
-            FilterHeightfield(solid, builderCfg.cfg, ctx);
+            FilterHeightfield(ctx, solid, builderCfg.cfg);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, builderCfg.cfg, solid);
-            return RcLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.WalkableHeight);
+            
+            RcLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.BorderSize, builderCfg.cfg.WalkableHeight, out var lset);
+            return lset;
         }
     }
 }

src/DotRecast.Recast/RcBuilderResult.cs

@@ -12,9 +12,9 @@ namespace DotRecast.Recast
         private readonly RcPolyMesh pmesh;
         private readonly RcPolyMeshDetail dmesh;
         private readonly RcHeightfield solid;
-        private readonly RcTelemetry telemetry;
+        private readonly RcContext _context;
 
-        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcTelemetry ctx)
+        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcContext ctx)
         {
             this.tileX = tileX;
             this.tileZ = tileZ;
@@ -23,7 +23,7 @@ namespace DotRecast.Recast
             this.cs = cs;
             this.pmesh = pmesh;
             this.dmesh = dmesh;
-            telemetry = ctx;
+            _context = ctx;
         }
 
         public RcPolyMesh GetMesh()
@@ -51,9 +51,9 @@ namespace DotRecast.Recast
             return solid;
         }
 
-        public RcTelemetry GetTelemetry()
+        public RcContext GetTelemetry()
         {
-            return telemetry;
+            return _context;
         }
     }
 }

src/DotRecast.Recast/RcCommons.cs

@@ -119,7 +119,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static int[] MarkWalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
+        public static int[] MarkWalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
         {
             int[] areas = new int[nt];
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
@@ -153,7 +153,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static void ClearUnwalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
+        public static void ClearUnwalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
         {
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
 

src/DotRecast.Recast/RcCompacts.cs

@@ -30,10 +30,13 @@ namespace DotRecast.Recast
 
     public static class RcCompacts
     {
-        private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
+        private const int MAX_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
-        private const int MAX_HEIGHT = RcConstants.SPAN_MAX_HEIGHT;
 
-        /// @par
+        /// @}
+        /// @name Compact Heightfield Functions
+        /// @see rcCompactHeightfield
+        /// @{
+        /// Builds a compact heightfield representing open space, from a heightfield representing solid space.
         ///
         /// This is just the beginning of the process of fully building a compact heightfield.
         /// Various filters may be applied, then the distance field and regions built.
@@ -42,31 +45,41 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
-        public static RcCompactHeightfield BuildCompactHeightfield(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield hf)
+        /// @ingroup recast
+        /// 
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		walkableHeight		Minimum floor to 'ceiling' height that will still allow the floor area 
+        /// 									to be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in]		walkableClimb		Maximum ledge height that is considered to still be traversable. 
+        /// 									[Limit: >=0] [Units: vx]
+        /// @param[in]		heightfield			The heightfield to be compacted.
+        /// @param[out]		compactHeightfield	The resulting compact heightfield. (Must be pre-allocated.)
+        /// @returns True if the operation completed successfully.
+        public static RcCompactHeightfield BuildCompactHeightfield(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
 
-            RcCompactHeightfield chf = new RcCompactHeightfield();
+            int xSize = heightfield.width;
-            int w = hf.width;
+            int zSize = heightfield.height;
-            int h = hf.height;
+            int spanCount = GetHeightFieldSpanCount(context, heightfield);
-            int spanCount = GetHeightFieldSpanCount(hf);
 
             // Fill in header.
-            chf.width = w;
+            RcCompactHeightfield compactHeightfield = new RcCompactHeightfield();
-            chf.height = h;
+            compactHeightfield.width = xSize;
-            chf.borderSize = hf.borderSize;
+            compactHeightfield.height = zSize;
-            chf.spanCount = spanCount;
+            compactHeightfield.borderSize = heightfield.borderSize;
-            chf.walkableHeight = walkableHeight;
+            compactHeightfield.spanCount = spanCount;
-            chf.walkableClimb = walkableClimb;
+            compactHeightfield.walkableHeight = walkableHeight;
-            chf.maxRegions = 0;
+            compactHeightfield.walkableClimb = walkableClimb;
-            chf.bmin = hf.bmin;
+            compactHeightfield.maxRegions = 0;
-            chf.bmax = hf.bmax;
+            compactHeightfield.bmin = heightfield.bmin;
-            chf.bmax.Y += walkableHeight * hf.ch;
+            compactHeightfield.bmax = heightfield.bmax;
-            chf.cs = hf.cs;
+            compactHeightfield.bmax.Y += walkableHeight * heightfield.ch;
-            chf.ch = hf.ch;
+            compactHeightfield.cs = heightfield.cs;
-            chf.cells = new RcCompactCell[w * h];
+            compactHeightfield.ch = heightfield.ch;
+            compactHeightfield.cells = new RcCompactCell[xSize * zSize];
             //chf.spans = new RcCompactSpan[spanCount];
-            chf.areas = new int[spanCount];
+            compactHeightfield.areas = new int[spanCount];
 
             var tempSpans = Enumerable
                 .Range(0, spanCount)
@@ -74,80 +87,81 @@ namespace DotRecast.Recast
                 .ToArray();
 
             // Fill in cells and spans.
-            int idx = 0;
+            int currentCellIndex = 0;
-            for (int y = 0; y < h; ++y)
+            int numColumns = xSize * zSize;
+            for (int columnIndex = 0; columnIndex < numColumns; ++columnIndex)
             {
-                for (int x = 0; x < w; ++x)
+                RcSpan span = heightfield.spans[columnIndex];
+
+                // If there are no spans at this cell, just leave the data to index=0, count=0.
+                if (span == null)
+                    continue;
+
+                int tmpIdx = currentCellIndex;
+                int tmpCount = 0;
+                for (; span != null; span = span.next)
                 {
-                    RcSpan s = hf.spans[x + y * w];
+                    if (span.area != RC_NULL_AREA)
-                    // If there are no spans at this cell, just leave the data to index=0, count=0.
-                    if (s == null)
-                        continue;
-
-                    int tmpIdx = idx;
-                    int tmpCount = 0;
-                    while (s != null)
                     {
-                        if (s.area != RC_NULL_AREA)
+                        int bot = span.smax;
-                        {
+                        int top = span.next != null ? (int)span.next.smin : MAX_HEIGHT;
-                            int bot = s.smax;
+                        tempSpans[currentCellIndex].y = Math.Clamp(bot, 0, MAX_HEIGHT);
-                            int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
+                        tempSpans[currentCellIndex].h = Math.Clamp(top - bot, 0, MAX_HEIGHT);
-                            tempSpans[idx].y = Math.Clamp(bot, 0, MAX_HEIGHT);
+                        compactHeightfield.areas[currentCellIndex] = span.area;
-                            tempSpans[idx].h = Math.Clamp(top - bot, 0, MAX_HEIGHT);
+                        currentCellIndex++;
-                            chf.areas[idx] = s.area;
+                        tmpCount++;
-                            idx++;
-                            tmpCount++;
-                        }
-
-                        s = s.next;
                     }
-
-                    chf.cells[x + y * w] = new RcCompactCell(tmpIdx, tmpCount);
                 }
+
+                compactHeightfield.cells[columnIndex] = new RcCompactCell(tmpIdx, tmpCount);
             }
 
             // Find neighbour connections.
-            int tooHighNeighbour = 0;
+            const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
-            for (int y = 0; y < h; ++y)
+            int maxLayerIndex = 0;
+            int zStride = xSize; // for readability
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    ref RcCompactCell c = ref chf.cells[x + y * w];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
-                    for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
+                    for (int i = cell.index, ni = cell.index + cell.count; i < ni; ++i)
                     {
                         ref RcCompactSpanBuilder s = ref tempSpans[i];
 
                         for (int dir = 0; dir < 4; ++dir)
                         {
                             SetCon(s, dir, RC_NOT_CONNECTED);
-                            int nx = x + GetDirOffsetX(dir);
+                            int neighborX = x + GetDirOffsetX(dir);
-                            int ny = y + GetDirOffsetY(dir);
+                            int neighborZ = z + GetDirOffsetY(dir);
                             // First check that the neighbour cell is in bounds.
-                            if (nx < 0 || ny < 0 || nx >= w || ny >= h)
+                            if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
+                            {
                                 continue;
+                            }
 
                             // Iterate over all neighbour spans and check if any of the is
                             // accessible from current cell.
-                            ref RcCompactCell nc = ref chf.cells[nx + ny * w];
+                            ref RcCompactCell neighborCell = ref compactHeightfield.cells[neighborX + neighborZ * xSize];
-                            for (int k = nc.index, nk = nc.index + nc.count; k < nk; ++k)
+                            for (int k = neighborCell.index, nk = neighborCell.index + neighborCell.count; k < nk; ++k)
                             {
-                                ref RcCompactSpanBuilder ns = ref tempSpans[k];
+                                ref RcCompactSpanBuilder neighborSpan = ref tempSpans[k];
-                                int bot = Math.Max(s.y, ns.y);
+                                int bot = Math.Max(s.y, neighborSpan.y);
-                                int top = Math.Min(s.y + s.h, ns.y + ns.h);
+                                int top = Math.Min(s.y + s.h, neighborSpan.y + neighborSpan.h);
 
                                 // Check that the gap between the spans is walkable,
                                 // and that the climb height between the gaps is not too high.
-                                if ((top - bot) >= walkableHeight && MathF.Abs(ns.y - s.y) <= walkableClimb)
+                                if ((top - bot) >= walkableHeight && MathF.Abs(neighborSpan.y - s.y) <= walkableClimb)
                                 {
                                     // Mark direction as walkable.
-                                    int lidx = k - nc.index;
+                                    int layerIndex = k - neighborCell.index;
-                                    if (lidx < 0 || lidx > MAX_LAYERS)
+                                    if (layerIndex < 0 || layerIndex > MAX_LAYERS)
                                     {
-                                        tooHighNeighbour = Math.Max(tooHighNeighbour, lidx);
+                                        maxLayerIndex = Math.Max(maxLayerIndex, layerIndex);
                                         continue;
                                     }
 
-                                    SetCon(s, dir, lidx);
+                                    SetCon(s, dir, layerIndex);
                                     break;
                                 }
                             }
@@ -156,30 +170,32 @@ namespace DotRecast.Recast
                 }
             }
 
-            if (tooHighNeighbour > MAX_LAYERS)
+            if (maxLayerIndex > MAX_LAYERS)
             {
-                throw new Exception("rcBuildCompactHeightfield: Heightfield has too many layers " + tooHighNeighbour
+                throw new Exception($"rcBuildCompactHeightfield: Heightfield has too many layers {maxLayerIndex} (max: {MAX_LAYERS})");
-                                                                                                  + " (max: " + MAX_LAYERS + ")");
             }
 
-            chf.spans = tempSpans.Select(x => x.Build()).ToArray();
+            compactHeightfield.spans = tempSpans.Select(x => x.Build()).ToArray();
 
-            return chf;
+            return compactHeightfield;
         }
 
-        private static int GetHeightFieldSpanCount(RcHeightfield hf)
+        /// Returns the number of spans contained in the specified heightfield.
+        ///  @ingroup recast
+        ///  @param[in,out]	context		The build context to use during the operation.
+        ///  @param[in]		heightfield	An initialized heightfield.
+        ///  @returns The number of spans in the heightfield.
+        private static int GetHeightFieldSpanCount(RcContext context, RcHeightfield heightfield)
         {
-            int w = hf.width;
+            int numCols = heightfield.width * heightfield.height;
-            int h = hf.height;
             int spanCount = 0;
-            for (int y = 0; y < h; ++y)
+            for (int columnIndex = 0; columnIndex < numCols; ++columnIndex)
             {
-                for (int x = 0; x < w; ++x)
+                for (RcSpan span = heightfield.spans[columnIndex]; span != null; span = span.next)
                 {
-                    for (RcSpan s = hf.spans[x + y * w]; s != null; s = s.next)
+                    if (span.area != RC_NULL_AREA)
                     {
-                        if (s.area != RC_NULL_AREA)
+                        spanCount++;
-                            spanCount++;
                     }
                 }
             }

src/DotRecast.Recast/RcConstants.cs

@@ -37,10 +37,14 @@ namespace DotRecast.Recast
         public const int RC_NOT_CONNECTED = 0x3f;
         
         /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
-        public const int SPAN_HEIGHT_BITS = 20;
+        public const int RC_SPAN_HEIGHT_BITS = 20;
 
         /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
-        public const int SPAN_MAX_HEIGHT = (1 << SPAN_HEIGHT_BITS) - 1;
+        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+        /// The number of spans allocated per span spool.
+        /// @see rcSpanPool
+        public const int RC_SPANS_PER_POOL = 2048;
         
         /// Heighfield border flag.
         /// If a heightfield region ID has this bit set, then the region is a border

src/DotRecast.Recast/RcContours.cs

@@ -614,7 +614,7 @@ namespace DotRecast.Recast
             return new int[] { minx, minz, leftmost };
         }
 
-        private static void MergeRegionHoles(RcTelemetry ctx, RcContourRegion region)
+        private static void MergeRegionHoles(RcContext ctx, RcContourRegion region)
         {
             // Sort holes from left to right.
             for (int i = 0; i < region.nholes; i++)
@@ -715,7 +715,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-        public static RcContourSet BuildContours(RcTelemetry ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
+        public static RcContourSet BuildContours(RcContext ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
             int buildFlags)
         {
             int w = chf.width;

src/DotRecast.Recast/RcDirtyEntry.cs

@@ -0,0 +1,17 @@
+namespace DotRecast.Recast
+{
+    // Struct to keep track of entries in the region table that have been changed.
+    public readonly struct RcDirtyEntry
+    {
+        public readonly int index;
+        public readonly int region;
+        public readonly int distance2;
+
+        public RcDirtyEntry(int tempIndex, int tempRegion, int tempDistance2)
+        {
+            index = tempIndex;
+            region = tempRegion;
+            distance2 = tempDistance2;
+        }
+    }
+}

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -30,7 +30,7 @@ namespace DotRecast.Recast
         private const float EPSILON = 0.00001f;
         private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 };
 
-        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_SPHERE);
             float[] bounds =
@@ -42,7 +42,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectSphere(rectangle, center, radius * radius));
         }
 
-        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CAPSULE);
             float[] bounds =
@@ -56,7 +56,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCapsule(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CYLINDER);
             float[] bounds =
@@ -70,7 +70,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCylinder(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_BOX);
             RcVec3f[] normals =
@@ -120,7 +120,7 @@ namespace DotRecast.Recast
             RasterizationFilledShape(hf, bounds, area, flagMergeThr, rectangle => IntersectBox(rectangle, vertices, planes));
         }
 
-        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CONVEX);
             float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };
@@ -221,8 +221,8 @@ namespace DotRecast.Recast
                         int smax = (int)MathF.Ceiling((h[1] - hf.bmin.Y) * ich);
                         if (smin != smax)
                         {
-                            int ismin = Math.Clamp(smin, 0, SPAN_MAX_HEIGHT);
+                            int ismin = Math.Clamp(smin, 0, RC_SPAN_MAX_HEIGHT);
-                            int ismax = Math.Clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
+                            int ismax = Math.Clamp(smax, ismin + 1, RC_SPAN_MAX_HEIGHT);
                             RcRasterizations.AddSpan(hf, x, z, ismin, ismax, area, flagMergeThr);
                         }
                     }

src/DotRecast.Recast/RcFilters.cs

@@ -28,172 +28,218 @@ namespace DotRecast.Recast
 
     public static class RcFilters
     {
-        /// @par
+        /// Marks non-walkable spans as walkable if their maximum is within @p walkableClimb of the span below them.
         ///
-        /// Allows the formation of walkable regions that will flow over low lying
+        /// This removes small obstacles that the agent would be able to walk over such as curbs, and also allows agents to move up structures such as stairs.
-        /// objects such as curbs, and up structures such as stairways.
+        /// This removes small obstacles and rasterization artifacts that the agent would be able to walk over
+        /// such as curbs.  It also allows agents to move up terraced structures like stairs.
         /// 
-        /// Two neighboring spans are walkable if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) < walkableClimb</tt>
+        /// Obstacle spans are marked walkable if: <tt>obstacleSpan.smax - walkableSpan.smax < walkableClimb</tt>
         /// 
-        /// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
+        /// @warning Will override the effect of #rcFilterLedgeSpans.  If both filters are used, call #rcFilterLedgeSpans only after applying this filter.
-        /// #rcFilterLedgeSpans after calling this filter.
         ///
         /// @see rcHeightfield, rcConfig
-        public static void FilterLowHangingWalkableObstacles(RcTelemetry ctx, int walkableClimb, RcHeightfield solid)
+        /// 
+        /// @ingroup recast
+        /// @param[in,out]	context			The build context to use during the operation.
+        /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+        /// 								[Limit: >=0] [Units: vx]
+        /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
+        public static void FilterLowHangingWalkableObstacles(RcContext context, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
 
-            int w = solid.width;
+            int xSize = heightfield.width;
-            int h = solid.height;
+            int zSize = heightfield.height;
 
-            for (int y = 0; y < h; ++y)
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    RcSpan ps = null;
+                    RcSpan previousSpan = null;
-                    bool previousWalkable = false;
+                    bool previousWasWalkable = false;
-                    int previousArea = RC_NULL_AREA;
+                    int previousAreaID = RC_NULL_AREA;
 
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; ps = s, s = s.next)
+                    // For each span in the column...
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; previousSpan = span, span = span.next)
                     {
-                        bool walkable = s.area != RC_NULL_AREA;
+                        bool walkable = span.area != RC_NULL_AREA;
-                        // If current span is not walkable, but there is walkable
+                        // If current span is not walkable, but there is walkable span just below it and the height difference
-                        // span just below it, mark the span above it walkable too.
+                        // is small enough for the agent to walk over, mark the current span as walkable too.
-                        if (!walkable && previousWalkable)
+                        if (!walkable && previousWasWalkable && span.smax - previousSpan.smax <= walkableClimb)
                         {
-                            if (MathF.Abs(s.smax - ps.smax) <= walkableClimb)
+                            span.area = previousAreaID;
-                                s.area = previousArea;
                         }
 
-                        // Copy walkable flag so that it cannot propagate
+                        // Copy the original walkable value regardless of whether we changed it.
-                        // past multiple non-walkable objects.
+                        // This prevents multiple consecutive non-walkable spans from being erroneously marked as walkable.
-                        previousWalkable = walkable;
+                        previousWasWalkable = walkable;
-                        previousArea = s.area;
+                        previousAreaID = span.area;
                     }
                 }
             }
         }
 
-        /// @par
+        /// Marks spans that are ledges as not-walkable.
         ///
         /// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
         /// from the current span's maximum.
         /// This method removes the impact of the overestimation of conservative voxelization 
         /// so the resulting mesh will not have regions hanging in the air over ledges.
         /// 
-        /// A span is a ledge if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
+        /// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
         /// 
         /// @see rcHeightfield, rcConfig
-        public static void FilterLedgeSpans(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield solid)
+        /// 
+        /// @ingroup recast
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+        /// 								be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+        /// 								[Limit: >=0] [Units: vx]
+        /// @param[in,out]	heightfield			A fully built heightfield.  (All spans have been added.)
+        public static void FilterLedgeSpans(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
 
-            int w = solid.width;
+            int xSize = heightfield.width;
-            int h = solid.height;
+            int zSize = heightfield.height;
 
-            // Mark border spans.
+            // Mark spans that are adjacent to a ledge as unwalkable..
-            for (int y = 0; y < h; ++y)
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; span = span.next)
                     {
-                        // Skip non walkable spans.
+                        // Skip non-walkable spans.
-                        if (s.area == RC_NULL_AREA)
+                        if (span.area == RC_NULL_AREA)
+                        {
                             continue;
+                        }
 
-                        int bot = (s.smax);
+                        int floor = (span.smax);
-                        int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT;
+                        int ceiling = span.next != null ? span.next.smin : RC_SPAN_MAX_HEIGHT;
 
-                        // Find neighbours minimum height.
+                        // The difference between this walkable area and the lowest neighbor walkable area.
-                        int minh = SPAN_MAX_HEIGHT;
+                        // This is the difference between the current span and all neighbor spans that have
+                        // enough space for an agent to move between, but not accounting at all for surface slope.
+                        int lowestNeighborFloorDifference = RC_SPAN_MAX_HEIGHT;
 
                         // Min and max height of accessible neighbours.
-                        int asmin = s.smax;
+                        int lowestTraversableNeighborFloor = span.smax;
-                        int asmax = s.smax;
+                        int highestTraversableNeighborFloor = span.smax;
 
-                        for (int dir = 0; dir < 4; ++dir)
+                        for (int direction = 0; direction < 4; ++direction)
                         {
-                            int dx = x + GetDirOffsetX(dir);
+                            int neighborX = x + GetDirOffsetX(direction);
-                            int dy = y + GetDirOffsetY(dir);
+                            int neighborZ = z + GetDirOffsetY(direction);
+
                             // Skip neighbours which are out of bounds.
-                            if (dx < 0 || dy < 0 || dx >= w || dy >= h)
+                            if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
                             {
-                                minh = Math.Min(minh, -walkableClimb - bot);
+                                lowestNeighborFloorDifference = (-walkableClimb - 1);
-                                continue;
+                                break;
                             }
 
-                            // From minus infinity to the first span.
+                            RcSpan neighborSpan = heightfield.spans[neighborX + neighborZ * xSize];
-                            RcSpan ns = solid.spans[dx + dy * w];
+
-                            int nbot = -walkableClimb;
+                            // The most we can step down to the neighbor is the walkableClimb distance.
-                            int ntop = ns != null ? ns.smin : SPAN_MAX_HEIGHT;
+                            // Start with the area under the neighbor span                            
+                            int neighborCeiling = neighborSpan != null ? neighborSpan.smin : RC_SPAN_MAX_HEIGHT;
+
                             // Skip neightbour if the gap between the spans is too small.
-                            if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
+                            if (Math.Min(ceiling, neighborCeiling) - floor >= walkableHeight)
-                                minh = Math.Min(minh, nbot - bot);
-
-                            // Rest of the spans.
-                            for (ns = solid.spans[dx + dy * w]; ns != null; ns = ns.next)
                             {
-                                nbot = ns.smax;
+                                lowestNeighborFloorDifference = (-walkableClimb - 1);
-                                ntop = ns.next != null ? ns.next.smin : SPAN_MAX_HEIGHT;
+                                break;
-                                // Skip neightbour if the gap between the spans is too small.
+                            }
-                                if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
-                                {
-                                    minh = Math.Min(minh, nbot - bot);
 
-                                    // Find min/max accessible neighbour height.
+                            // For each span in the neighboring column...
-                                    if (MathF.Abs(nbot - bot) <= walkableClimb)
+                            for (; neighborSpan != null; neighborSpan = neighborSpan.next)
-                                    {
+                            {
-                                        if (nbot < asmin)
+                                int neighborFloor = neighborSpan.smax;
-                                            asmin = nbot;
+                                neighborCeiling = neighborSpan.next != null ? neighborSpan.next.smin : RC_SPAN_MAX_HEIGHT;
-                                        if (nbot > asmax)
+
-                                            asmax = nbot;
+                                // Only consider neighboring areas that have enough overlap to be potentially traversable.
-                                    }
+                                if (Math.Min(ceiling, neighborCeiling) - Math.Max(floor, neighborFloor) < walkableHeight)
+                                {
+                                    // No space to traverse between them.
+                                    continue;
+                                }
+
+                                int neighborFloorDifference = neighborFloor - floor;
+                                lowestNeighborFloorDifference = Math.Min(lowestNeighborFloorDifference, neighborFloorDifference);
+
+                                // Find min/max accessible neighbor height.
+                                // Only consider neighbors that are at most walkableClimb away.
+                                if (MathF.Abs(neighborFloorDifference) <= walkableClimb)
+                                {
+                                    // There is space to move to the neighbor cell and the slope isn't too much.
+                                    lowestTraversableNeighborFloor = Math.Min(lowestTraversableNeighborFloor, neighborFloor);
+                                    highestTraversableNeighborFloor = Math.Max(highestTraversableNeighborFloor, neighborFloor);
+                                }
+                                else if (neighborFloorDifference < -walkableClimb)
+                                {
+                                    // We already know this will be considered a ledge span so we can early-out
+                                    break;
                                 }
                             }
                         }
 
-                        // The current span is close to a ledge if the drop to any
+                        // The current span is close to a ledge if the magnitude of the drop to any neighbour span is greater than the walkableClimb distance.
-                        // neighbour span is less than the walkableClimb.
+                        // That is, there is a gap that is large enough to let an agent move between them, but the drop (surface slope) is too large to allow it.
-                        if (minh < -walkableClimb)
+                        // (If this is the case, then biggestNeighborStepDown will be negative, so compare against the negative walkableClimb as a means of checking
-                            s.area = RC_NULL_AREA;
+                        // the magnitude of the delta)
-
+                        if (lowestNeighborFloorDifference < -walkableClimb)
-                        // If the difference between all neighbours is too large,
-                        // we are at steep slope, mark the span as ledge.
-                        if ((asmax - asmin) > walkableClimb)
                         {
-                            s.area = RC_NULL_AREA;
+                            span.area = RC_NULL_AREA;
+                        }
+                        // If the difference between all neighbor floors is too large, this is a steep slope, so mark the span as an unwalkable ledge.
+                        else if ((highestTraversableNeighborFloor - lowestTraversableNeighborFloor) > walkableClimb)
+                        {
+                            span.area = RC_NULL_AREA;
                         }
                     }
                 }
             }
         }
 
-        /// @par
+        /// Marks walkable spans as not walkable if the clearance above the span is less than the specified walkableHeight.
         /// 
         /// For this filter, the clearance above the span is the distance from the span's 
-        /// maximum to the next higher span's minimum. (Same grid column.)
+        /// maximum to the minimum of the next higher span in the same column.
+        /// If there is no higher span in the column, the clearance is computed as the
+        /// distance from the top of the span to the maximum heightfield height.
         /// 
         /// @see rcHeightfield, rcConfig
-        public static void FilterWalkableLowHeightSpans(RcTelemetry ctx, int walkableHeight, RcHeightfield solid)
+        /// @ingroup recast
+        /// 
+        /// @param[in,out]	context			The build context to use during the operation.
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+        /// 								be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
+        public static void FilterWalkableLowHeightSpans(RcContext context, int walkableHeight, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_WALKABLE);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_WALKABLE);
 
-            int w = solid.width;
+            int xSize = heightfield.width;
-            int h = solid.height;
+            int zSize = heightfield.height;
 
             // Remove walkable flag from spans which do not have enough
             // space above them for the agent to stand there.
-            for (int y = 0; y < h; ++y)
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; span = span.next)
                     {
-                        int bot = (s.smax);
+                        int floor = (span.smax);
-                        int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT;
+                        int ceiling = span.next != null ? span.next.smin : RC_SPAN_MAX_HEIGHT;
-                        if ((top - bot) < walkableHeight)
+                        if ((ceiling - floor) < walkableHeight)
-                            s.area = RC_NULL_AREA;
+                        {
+                            span.area = RC_NULL_AREA;
+                        }
                     }
                 }
             }

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/RcLayerRegion.cs

@@ -5,11 +5,11 @@ namespace DotRecast.Recast
     public class RcLayerRegion
     {
         public int id;
-        public int layerId;
+        public int layerId; // Layer ID
-        public bool @base;
+        public bool @base; // Flag indicating if the region is the base of merged regions.
         public int ymin, ymax;
-        public List<int> layers;
+        public List<int> layers; // Layer count
-        public List<int> neis;
+        public List<int> neis; // Neighbour count
 
         public RcLayerRegion(int i)
         {

src/DotRecast.Recast/RcLayerSweepSpan.cs

@@ -1,6 +1,6 @@
-namespace DotRecast.Detour.TileCache
+namespace DotRecast.Recast
 {
-    public class DtLayerSweepSpan
+    public class RcLayerSweepSpan
     {
         public int ns; // number samples
         public int id; // region id

src/DotRecast.Recast/RcLayers.cs

@@ -52,30 +52,53 @@ namespace DotRecast.Recast
             return (amin > bmax || amax < bmin) ? false : true;
         }
 
-        public static RcHeightfieldLayerSet BuildHeightfieldLayers(RcTelemetry ctx, RcCompactHeightfield chf, int walkableHeight)
+        /// @par
+        /// 
+        /// See the #rcConfig documentation for more information on the configuration parameters.
+        /// 
+        /// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
+        /// @}
+        /// @name Layer, Contour, Polymesh, and Detail Mesh Functions
+        /// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
+        /// @{
+
+        /// Builds a layer set from the specified compact heightfield.
+        /// @ingroup recast
+        /// @param[in,out]	ctx				The build context to use during the operation.
+        /// @param[in]		chf				A fully built compact heightfield.
+        /// @param[in]		borderSize		The size of the non-navigable border around the heightfield. [Limit: >=0] 
+        ///  								[Units: vx]
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+        ///  								to be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[out]		lset			The resulting layer set. (Must be pre-allocated.)
+        /// @returns True if the operation completed successfully.
+        public static bool BuildHeightfieldLayers(RcContext ctx, RcCompactHeightfield chf, int borderSize, int walkableHeight, out RcHeightfieldLayerSet lset)
         {
+            lset = null;
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_LAYERS);
 
             int w = chf.width;
             int h = chf.height;
-            int borderSize = chf.borderSize;
+            
             int[] srcReg = new int[chf.spanCount];
             Array.Fill(srcReg, 0xFF);
+            
             int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
-            RcSweepSpan[] sweeps = new RcSweepSpan[nsweeps];
+            RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
-                sweeps[i] = new RcSweepSpan();
+                sweeps[i] = new RcLayerSweepSpan();
             }
 
             // Partition walkable area into monotone regions.
             int[] prevCount = new int[256];
             int regId = 0;
+            
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
-                Array.Fill(prevCount, 0, 0, (regId) - (0));
+                Array.Fill(prevCount, 0);
                 int sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
@@ -87,9 +110,10 @@ namespace DotRecast.Recast
                         ref RcCompactSpan s = ref chf.spans[i];
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
-                        int sid = 0xFF;
-                        // -x
                         
+                        int sid = 0xFF;
+                        
+                        // -x
                         if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
                         {
                             int ax = x + GetDirOffsetX(0);
@@ -115,8 +139,7 @@ namespace DotRecast.Recast
                             int nr = srcReg[ai];
                             if (nr != 0xff)
                             {
-                                // Set neighbour when first valid neighbour is
+                                // Set neighbour when first valid neighbour is encoutered.
-                                // encoutered.
                                 if (sweeps[sid].ns == 0)
                                     sweeps[sid].nei = nr;
 
@@ -128,8 +151,7 @@ namespace DotRecast.Recast
                                 }
                                 else
                                 {
-                                    // This is hit if there is nore than one
+                                    // This is hit if there is nore than one neighbour.
-                                    // neighbour.
                                     // Invalidate the neighbour.
                                     sweeps[sid].nei = 0xff;
                                 }
@@ -143,10 +165,8 @@ namespace DotRecast.Recast
                 // Create unique ID.
                 for (int i = 0; i < sweepId; ++i)
                 {
-                    // If the neighbour is set and there is only one continuous
+                    // If the neighbour is set and there is only one continuous connection to it,
-                    // connection to it,
+                    // the sweep will be merged with the previous one, else new region is created.
-                    // the sweep will be merged with the previous one, else new
-                    // region is created.
                     if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == sweeps[i].ns)
                     {
                         sweeps[i].id = sweeps[i].nei;
@@ -156,6 +176,7 @@ namespace DotRecast.Recast
                         if (regId == 255)
                         {
                             throw new Exception("rcBuildHeightfieldLayers: Region ID overflow.");
+                            return false;
                         }
 
                         sweeps[i].id = regId++;
@@ -174,6 +195,7 @@ namespace DotRecast.Recast
                 }
             }
 
+            // Allocate and init layer regions.
             int nregs = regId;
             RcLayerRegion[] regs = new RcLayerRegion[nregs];
 
@@ -216,7 +238,12 @@ namespace DotRecast.Recast
                                 int ai = chf.cells[ax + ay * w].index + GetCon(ref s, dir);
                                 int rai = srcReg[ai];
                                 if (rai != 0xff && rai != ri)
+                                {
+                                    // Don't check return value -- if we cannot add the neighbor
+                                    // it will just cause a few more regions to be created, which
+                                    // is fine.
                                     AddUnique(regs[ri].neis, rai);
+                                }
                             }
                         }
                     }
@@ -287,7 +314,10 @@ namespace DotRecast.Recast
                         regn.layerId = layerId;
                         // Merge current layers to root.
                         foreach (int layer in regn.layers)
+                        {
                             AddUnique(root.layers, layer);
+                        }
+
                         root.ymin = Math.Min(root.ymin, regn.ymin);
                         root.ymax = Math.Max(root.ymax, regn.ymax);
                     }
@@ -328,11 +358,9 @@ namespace DotRecast.Recast
                         if ((ymax - ymin) >= 255)
                             continue;
 
-                        // Make sure that there is no overlap when merging 'ri' and
+                        // Make sure that there is no overlap when merging 'ri' and 'rj'.
-                        // 'rj'.
                         bool overlap = false;
-                        // Iterate over all regions which have the same layerId as
+                        // Iterate over all regions which have the same layerId as 'rj'
-                        // 'rj'
                         for (int k = 0; k < nregs; ++k)
                         {
                             if (regs[k].layerId != rj.layerId)
@@ -370,7 +398,10 @@ namespace DotRecast.Recast
                             rj.layerId = newId;
                             // Add overlaid layers from 'rj' to 'ri'.
                             foreach (int layer in rj.layers)
+                            {
                                 AddUnique(ri.layers, layer);
+                            }
+
                             // Update height bounds.
                             ri.ymin = Math.Min(ri.ymin, rj.ymin);
                             ri.ymax = Math.Max(ri.ymax, rj.ymax);
@@ -396,13 +427,14 @@ namespace DotRecast.Recast
 
             // Remap ids.
             for (int i = 0; i < nregs; ++i)
+            {
                 regs[i].layerId = remap[regs[i].layerId];
+            }
 
             // No layers, return empty.
             if (layerId == 0)
             {
-                // ctx.Stop(RC_TIMER_BUILD_LAYERS);
+                return true;
-                return null;
             }
 
             // Create layers.
@@ -419,7 +451,7 @@ namespace DotRecast.Recast
             bmax.X -= borderSize * chf.cs;
             bmax.Z -= borderSize * chf.cs;
             
-            RcHeightfieldLayerSet lset = new RcHeightfieldLayerSet();
+            lset = new RcHeightfieldLayerSet();
             lset.layers = new RcHeightfieldLayer[layerId];
             for (int i = 0; i < lset.layers.Length; i++)
             {
@@ -515,8 +547,7 @@ namespace DotRecast.Recast
                                     if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
                                     {
                                         portal |= (char)(1 << dir);
-                                        // Update height so that it matches on both
+                                        // Update height so that it matches on both sides of the portal.
-                                        // sides of the portal.
                                         ref RcCompactSpan @as = ref chf.spans[ai];
                                         if (@as.y > hmin)
                                             layer.heights[idx] = Math.Max(layer.heights[idx], (char)(@as.y - hmin));
@@ -544,8 +575,7 @@ namespace DotRecast.Recast
                     layer.miny = layer.maxy = 0;
             }
 
-            // ctx->StopTimer(RC_TIMER_BUILD_LAYERS);
+            return true;
-            return lset;
         }
     }
 }

src/DotRecast.Recast/RcLevelStackEntry.cs

@@ -0,0 +1,16 @@
+namespace DotRecast.Recast
+{
+    public readonly struct RcLevelStackEntry
+    {
+        public readonly int x;
+        public readonly int y;
+        public readonly int index;
+
+        public RcLevelStackEntry(int tempX, int tempY, int tempIndex)
+        {
+            x = tempX;
+            y = tempY;
+            index = tempIndex;
+        }
+    }
+}

src/DotRecast.Recast/RcMeshDetails.cs

@@ -35,7 +35,7 @@ namespace DotRecast.Recast
         public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
         public const int MAX_VERTS_PER_EDGE = 32;
 
-        public const int RC_UNSET_HEIGHT = RcConstants.SPAN_MAX_HEIGHT;
+        public const int RC_UNSET_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
         public const int EV_UNDEF = -1;
         public const int EV_HULL = -2;
 
@@ -439,7 +439,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(RcTelemetry ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        private static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -507,7 +507,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(RcTelemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -624,7 +624,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(RcTelemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        private static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -828,7 +828,7 @@ namespace DotRecast.Recast
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(RcTelemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
+        static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
             int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
         {
             List<int> samples = new List<int>(512);
@@ -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;
                         }
                     }
@@ -1144,7 +1140,7 @@ namespace DotRecast.Recast
         }
 
 
-        static void SeedArrayWithPolyCenter(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1302,7 +1298,7 @@ namespace DotRecast.Recast
             queue.Add(v3);
         }
 
-        static void GetHeightData(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
+        static void GetHeightData(RcContext ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
             int bs, RcHeightPatch hp, int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1428,7 +1424,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
-        public static RcPolyMeshDetail BuildPolyMeshDetail(RcTelemetry ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
+        public static RcPolyMeshDetail BuildPolyMeshDetail(RcContext ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
             float sampleDist, float sampleMaxError)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESHDETAIL);
@@ -1618,7 +1614,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(RcTelemetry ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        private static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 

src/DotRecast.Recast/RcMeshs.cs

@@ -577,7 +577,7 @@ namespace DotRecast.Recast
             return an;
         }
 
-        private static bool CanRemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem)
+        private static bool CanRemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem)
         {
             int nvp = mesh.nvp;
 
@@ -680,7 +680,7 @@ namespace DotRecast.Recast
             return true;
         }
 
-        private static void RemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem, int maxTris)
+        private static void RemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem, int maxTris)
         {
             int nvp = mesh.nvp;
 
@@ -967,7 +967,7 @@ namespace DotRecast.Recast
         /// limit must be restricted to <= #DT_VERTS_PER_POLYGON.
         ///
         /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
-        public static RcPolyMesh BuildPolyMesh(RcTelemetry ctx, RcContourSet cset, int nvp)
+        public static RcPolyMesh BuildPolyMesh(RcContext ctx, RcContourSet cset, int nvp)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESH);
 
@@ -1212,7 +1212,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMesh, rcPolyMesh
-        public static RcPolyMesh MergePolyMeshes(RcTelemetry ctx, RcPolyMesh[] meshes, int nmeshes)
+        public static RcPolyMesh MergePolyMeshes(RcContext ctx, RcPolyMesh[] meshes, int nmeshes)
         {
             if (nmeshes == 0 || meshes == null)
                 return null;
@@ -1340,7 +1340,7 @@ namespace DotRecast.Recast
             return mesh;
         }
 
-        public static RcPolyMesh CopyPolyMesh(RcTelemetry ctx, RcPolyMesh src)
+        public static RcPolyMesh CopyPolyMesh(RcContext ctx, RcPolyMesh src)
         {
             RcPolyMesh dst = new RcPolyMesh();
 

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

@@ -27,35 +27,19 @@ namespace DotRecast.Recast
 {
     public static class RcRasterizations
     {
-        /**
+        /// Check whether two bounding boxes overlap
-         * Check whether two bounding boxes overlap
+        ///
-         *
+        /// @param[in]	aMin	Min axis extents of bounding box A
-         * @param amin
+        /// @param[in]	aMax	Max axis extents of bounding box A
-         *            Min axis extents of bounding box A
+        /// @param[in]	bMin	Min axis extents of bounding box B
-         * @param amax
+        /// @param[in]	bMax	Max axis extents of bounding box B
-         *            Max axis extents of bounding box A
+        /// @returns true if the two bounding boxes overlap.  False otherwise.
-         * @param bmin
+        private static bool OverlapBounds(RcVec3f aMin, RcVec3f aMax, RcVec3f bMin, RcVec3f bMax)
-         *            Min axis extents of bounding box B
-         * @param bmax
-         *            Max axis extents of bounding box B
-         * @returns true if the two bounding boxes overlap. False otherwise
-         */
-        private static bool OverlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
         {
-            bool overlap = true;
+            return
-            overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+                aMin.X <= bMax.X && aMax.X >= bMin.X &&
-            overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+                aMin.Y <= bMax.Y && aMax.Y >= bMin.Y &&
-            overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+                aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
-            return overlap;
-        }
-
-        private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax)
-        {
-            bool overlap = true;
-            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
-            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
-            overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
-            return overlap;
         }
 
 
@@ -69,72 +53,89 @@ namespace DotRecast.Recast
         /// @param[in]	max					The new span's maximum cell index
         /// @param[in]	areaID				The new span's area type ID
         /// @param[in]	flagMergeThreshold	How close two spans maximum extents need to be to merge area type IDs
-        public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, int flagMergeThreshold)
+        public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int max, int areaID, int flagMergeThreshold)
         {
-            int idx = x + y * heightfield.width;
+            // Create the new span.
+            RcSpan newSpan = new RcSpan();
+            newSpan.smin = min;
+            newSpan.smax = max;
+            newSpan.area = areaID;
+            newSpan.next = null;
 
-            RcSpan s = new RcSpan();
+            int columnIndex = x + z * heightfield.width;
-            s.smin = spanMin;
-            s.smax = spanMax;
-            s.area = areaId;
-            s.next = null;
 
             // Empty cell, add the first span.
-            if (heightfield.spans[idx] == null)
+            if (heightfield.spans[columnIndex] == null)
             {
-                heightfield.spans[idx] = s;
+                heightfield.spans[columnIndex] = newSpan;
                 return;
             }
 
-            RcSpan prev = null;
+            RcSpan previousSpan = null;
-            RcSpan cur = heightfield.spans[idx];
+            RcSpan currentSpan = heightfield.spans[columnIndex];
 
-            // Insert and merge spans.
+            // Insert the new span, possibly merging it with existing spans.
-            while (cur != null)
+            while (currentSpan != null)
             {
-                if (cur.smin > s.smax)
+                if (currentSpan.smin > newSpan.smax)
                 {
                     // Current span is further than the new span, break.
                     break;
                 }
-                else if (cur.smax < s.smin)
+
+                if (currentSpan.smax < newSpan.smin)
                 {
-                    // Current span is before the new span advance.
+                    // Current span is completely before the new span.  Keep going.
-                    prev = cur;
+                    previousSpan = currentSpan;
-                    cur = cur.next;
+                    currentSpan = currentSpan.next;
                 }
                 else
                 {
-                    // Merge spans.
+                    // The new span overlaps with an existing span.  Merge them.
-                    if (cur.smin < s.smin)
+                    if (currentSpan.smin < newSpan.smin)
-                        s.smin = cur.smin;
+                    {
-                    if (cur.smax > s.smax)
+                        newSpan.smin = currentSpan.smin;
-                        s.smax = cur.smax;
+                    }
+
+                    if (currentSpan.smax > newSpan.smax)
+                    {
+                        newSpan.smax = currentSpan.smax;
+                    }
 
                     // Merge flags.
-                    if (MathF.Abs(s.smax - cur.smax) <= flagMergeThreshold)
+                    if (MathF.Abs(newSpan.smax - currentSpan.smax) <= flagMergeThreshold)
-                        s.area = Math.Max(s.area, cur.area);
+                    {
+                        // Higher area ID numbers indicate higher resolution priority.
+                        newSpan.area = Math.Max(newSpan.area, currentSpan.area);
+                    }
 
-                    // Remove current span.
+                    // Remove the current span since it's now merged with newSpan.
-                    RcSpan next = cur.next;
+                    // Keep going because there might be other overlapping spans that also need to be merged.
-                    if (prev != null)
+                    RcSpan next = currentSpan.next;
-                        prev.next = next;
+                    if (previousSpan != null)
+                    {
+                        previousSpan.next = next;
+                    }
                     else
-                        heightfield.spans[idx] = next;
+                    {
-                    cur = next;
+                        heightfield.spans[columnIndex] = next;
+                    }
+
+                    currentSpan = next;
                 }
             }
 
-            // Insert new span.
+            // Insert new span after prev
-            if (prev != null)
+            if (previousSpan != null)
             {
-                s.next = prev.next;
+                newSpan.next = previousSpan.next;
-                prev.next = s;
+                previousSpan.next = newSpan;
             }
             else
             {
-                s.next = heightfield.spans[idx];
+                // This span should go before the others in the list
-                heightfield.spans[idx] = s;
+                newSpan.next = heightfield.spans[columnIndex];
+                heightfield.spans[columnIndex] = newSpan;
             }
         }
 
@@ -154,54 +155,53 @@ namespace DotRecast.Recast
             int outVerts2, out int outVerts2Count,
             float axisOffset, int axis)
         {
-            float[] d = new float[12];
-
             // How far positive or negative away from the separating axis is each vertex.
+            float[] inVertAxisDelta = new float[12];
             for (int inVert = 0; inVert < inVertsCount; ++inVert)
             {
-                d[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];
+                inVertAxisDelta[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];
             }
 
             int poly1Vert = 0;
             int poly2Vert = 0;
             for (int inVertA = 0, inVertB = inVertsCount - 1; inVertA < inVertsCount; inVertB = inVertA, ++inVertA)
             {
-                bool ina = d[inVertB] >= 0;
+                // If the two vertices are on the same side of the separating axis
-                bool inb = d[inVertA] >= 0;
+                bool sameSide = (inVertAxisDelta[inVertA] >= 0) == (inVertAxisDelta[inVertB] >= 0);
-                if (ina != inb)
+                if (!sameSide)
                 {
-                    float s = d[inVertB] / (d[inVertB] - d[inVertA]);
+                    float s = inVertAxisDelta[inVertB] / (inVertAxisDelta[inVertB] - inVertAxisDelta[inVertA]);
-                    inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] +
+                    inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] + (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s;
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s;
+                    inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] + (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s;
-                    inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] +
+                    inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] + (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s;
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s;
-                    inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] +
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s;
                     RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
                     poly1Vert++;
                     poly2Vert++;
+
                     // add the i'th point to the right polygon. Do NOT add points that are on the dividing line
                     // since these were already added above
-                    if (d[inVertA] > 0)
+                    if (inVertAxisDelta[inVertA] > 0)
                     {
                         RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                     }
-                    else if (d[inVertA] < 0)
+                    else if (inVertAxisDelta[inVertA] < 0)
                     {
                         RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly2Vert++;
                     }
                 }
-                else // same side
+                else
                 {
                     // add the i'th point to the right polygon. Addition is done even for points on the dividing line
-                    if (d[inVertA] >= 0)
+                    if (inVertAxisDelta[inVertA] >= 0)
                     {
                         RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
-                        if (d[inVertA] != 0)
+                        if (inVertAxisDelta[inVertA] != 0)
+                        {
                             continue;
+                        }
                     }
 
                     RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
@@ -229,31 +229,35 @@ namespace DotRecast.Recast
         /// @param[in] 	inverseCellHeight	1 / cellHeight
         /// @param[in] 	flagMergeThreshold	The threshold in which area flags will be merged 
         /// @returns true if the operation completes successfully.  false if there was an error adding spans to the heightfield.
-        private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield,
+        private static bool RasterizeTri(float[] verts, int v0, int v1, int v2,
+            int areaID, RcHeightfield heightfield,
             RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax,
             float cellSize, float inverseCellSize, float inverseCellHeight,
             int flagMergeThreshold)
         {
-            float by = heightfieldBBMax.Y - heightfieldBBMin.Y;
-
             // Calculate the bounding box of the triangle.
-            RcVec3f tmin = RcVecUtils.Create(verts, v0 * 3);
+            RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
-            RcVec3f tmax = RcVecUtils.Create(verts, v0 * 3);
+            triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3);
-            tmin = RcVecUtils.Min(tmin, verts, v1 * 3);
+            triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3);
-            tmin = RcVecUtils.Min(tmin, verts, v2 * 3);
-            tmax = RcVecUtils.Max(tmax, verts, v1 * 3);
-            tmax = RcVecUtils.Max(tmax, verts, v2 * 3);
 
-            // If the triangle does not touch the bbox of the heightfield, skip the triagle.
+            RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
-            if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax))
+            triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3);
-                return;
+            triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3);
 
-            // Calculate the footprint of the triangle on the grid's y-axis
+            // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
-            int z0 = (int)((tmin.Z - heightfieldBBMin.Z) * inverseCellSize);
+            if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
-            int z1 = (int)((tmax.Z - heightfieldBBMin.Z) * inverseCellSize);
+            {
+                return true;
+            }
 
             int w = heightfield.width;
             int h = heightfield.height;
+            float by = heightfieldBBMax.Y - heightfieldBBMin.Y;
+
+            // Calculate the footprint of the triangle on the grid's y-axis
+            int z0 = (int)((triBBMin.Z - heightfieldBBMin.Z) * inverseCellSize);
+            int z1 = (int)((triBBMax.Z - heightfieldBBMin.Z) * inverseCellSize);
+
             // use -1 rather than 0 to cut the polygon properly at the start of the tile
             z0 = Math.Clamp(z0, -1, h - 1);
             z1 = Math.Clamp(z1, 0, h - 1);
@@ -268,25 +272,29 @@ namespace DotRecast.Recast
             RcVecUtils.Copy(buf, 0, verts, v0 * 3);
             RcVecUtils.Copy(buf, 3, verts, v1 * 3);
             RcVecUtils.Copy(buf, 6, verts, v2 * 3);
-            int nvRow, nvIn = 3;
+            int nvRow;
+            int nvIn = 3;
 
             for (int z = z0; z <= z1; ++z)
             {
                 // Clip polygon to row. Store the remaining polygon as well
                 float cellZ = heightfieldBBMin.Z + z * cellSize;
-                DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, 2);
+                DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, RcAxis.RC_AXIS_Z);
                 (@in, p1) = (p1, @in);
 
                 if (nvRow < 3)
+                {
                     continue;
+                }
 
                 if (z < 0)
                 {
                     continue;
                 }
 
-                // find the horizontal bounds in the row
+                // find X-axis bounds of the row
-                float minX = buf[inRow], maxX = buf[inRow];
+                float minX = buf[inRow];
+                float maxX = buf[inRow];
                 for (int i = 1; i < nvRow; ++i)
                 {
                     float v = buf[inRow + i * 3];
@@ -304,16 +312,19 @@ namespace DotRecast.Recast
                 x0 = Math.Clamp(x0, -1, w - 1);
                 x1 = Math.Clamp(x1, 0, w - 1);
 
-                int nv, nv2 = nvRow;
+                int nv;
+                int nv2 = nvRow;
                 for (int x = x0; x <= x1; ++x)
                 {
                     // Clip polygon to column. store the remaining polygon as well
                     float cx = heightfieldBBMin.X + x * cellSize;
-                    DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, 0);
+                    DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, RcAxis.RC_AXIS_X);
                     (inRow, p2) = (p2, inRow);
 
                     if (nv < 3)
+                    {
                         continue;
+                    }
 
                     if (x < 0)
                     {
@@ -331,80 +342,89 @@ namespace DotRecast.Recast
 
                     spanMin -= heightfieldBBMin.Y;
                     spanMax -= heightfieldBBMin.Y;
+
                     // Skip the span if it is outside the heightfield bbox
                     if (spanMax < 0.0f)
+                    {
                         continue;
+                    }
+
                     if (spanMin > by)
+                    {
                         continue;
+                    }
+
                     // Clamp the span to the heightfield bbox.
                     if (spanMin < 0.0f)
+                    {
                         spanMin = 0;
+                    }
+
                     if (spanMax > by)
+                    {
                         spanMax = by;
+                    }
 
                     // Snap the span to the heightfield height grid.
-                    int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
+                    int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT);
-                    int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
+                    int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT);
 
-                    AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
+                    AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold);
                 }
             }
+
+            return true;
         }
 
-        /**
+        /// Rasterizes a single triangle into the specified heightfield.
-     * Rasterizes a single triangle into the specified heightfield. Calling this for each triangle in a mesh is less
+        ///
-     * efficient than calling rasterizeTriangles. No spans will be added if the triangle does not overlap the
+        /// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles
-     * heightfield grid.
+        ///
-     *
+        /// No spans will be added if the triangle does not overlap the heightfield grid.
-     * @param heightfield
+        ///
-     *            An initialized heightfield.
+        /// @see rcHeightfield
-     * @param verts
+        /// @ingroup recast
-     *            An array with vertex coordinates [(x, y, z) * N]
+        /// @param[in,out]	context				The build context to use during the operation.
-     * @param v0
+        /// @param[in]		v0					Triangle vertex 0 [(x, y, z)]
-     *            Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates
+        /// @param[in]		v1					Triangle vertex 1 [(x, y, z)]
-     * @param v1
+        /// @param[in]		v2					Triangle vertex 2 [(x, y, z)]
-     *            Triangle vertex 1 index
+        /// @param[in]		areaID				The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
-     * @param v2
+        /// @param[in,out]	heightfield			An initialized heightfield.
-     *            Triangle vertex 2 index
+        /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag.
-     * @param areaId
+        /// 									[Limit: >= 0] [Units: vx]
-     *            The area id of the triangle. [Limit: <= WALKABLE_AREA)
+        /// @returns True if the operation completed successfully.
-     * @param flagMergeThreshold
+        public static void RasterizeTriangle(RcContext context, float[] verts, int v0, int v1, int v2, int areaID,
-     *            The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
+            RcHeightfield heightfield, int flagMergeThreshold)
-     * @see Heightfield
-     */
-        public static void RasterizeTriangle(RcHeightfield heightfield, float[] verts, int v0, int v1, int v2, int area,
-            int flagMergeThreshold, RcTelemetry ctx)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
+            // Rasterize the single triangle.
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
-            RasterizeTri(verts, v0, v1, v2, area, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
+            RasterizeTri(verts, v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
                 inverseCellHeight, flagMergeThreshold);
         }
 
-        /**
+        /// Rasterizes an indexed triangle mesh into the specified heightfield.
-     * Rasterizes an indexed triangle mesh into the specified heightfield. Spans will only be added for triangles that
+        ///
-     * overlap the heightfield grid.
+        /// Spans will only be added for triangles that overlap the heightfield grid.
-     *
+        /// 
-     * @param heightfield
+        /// @see rcHeightfield
-     *            An initialized heightfield.
+        /// @ingroup recast
-     * @param verts
+        /// @param[in,out]	context				The build context to use during the operation.
-     *            The vertices. [(x, y, z) * N]
+        /// @param[in]		verts				The vertices. [(x, y, z) * @p nv]
-     * @param tris
+        /// @param[in]		numVerts			The number of vertices. (unused) TODO (graham): Remove in next major release
-     *            The triangle indices. [(vertA, vertB, vertC) * nt]
+        /// @param[in]		tris				The triangle indices. [(vertA, vertB, vertC) * @p nt]
-     * @param areaIds
+        /// @param[in]		triAreaIDs			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
-     *            The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
+        /// @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(RcContext context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
-     */
+            RcHeightfield heightfield, int flagMergeThreshold)
-        public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] tris, 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;
@@ -413,33 +433,30 @@ namespace DotRecast.Recast
                 int v0 = tris[triIndex * 3 + 0];
                 int v1 = tris[triIndex * 3 + 1];
                 int v2 = tris[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);
             }
         }
 
-        /**
+        /// 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(RcContext 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;
@@ -448,7 +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);
             }
         }

src/DotRecast.Recast/RcRegions.cs

@@ -274,8 +274,11 @@ namespace DotRecast.Recast
             return dst;
         }
 
-        private static bool FloodRegion(int x, int y, int i, int level, int r, RcCompactHeightfield chf, int[] srcReg,
+        private static bool FloodRegion(int x, int y, int i,
-            int[] srcDist, List<int> stack)
+            int level, int r,
+            RcCompactHeightfield chf,
+            int[] srcReg, int[] srcDist,
+            List<RcLevelStackEntry> stack)
         {
             int w = chf.width;
 
@@ -283,9 +286,7 @@ namespace DotRecast.Recast
 
             // Flood fill mark region.
             stack.Clear();
-            stack.Add(x);
+            stack.Add(new RcLevelStackEntry(x, y, i));
-            stack.Add(y);
-            stack.Add(i);
             srcReg[i] = r;
             srcDist[i] = 0;
 
@@ -294,13 +295,10 @@ namespace DotRecast.Recast
 
             while (stack.Count > 0)
             {
-                int ci = stack[^1];
+                RcLevelStackEntry back = stack[^1];
-                stack.RemoveAt(stack.Count - 1);
+                int cx = back.x;
-
+                int cy = back.y;
-                int cy = stack[^1];
+                int ci = back.index;
-                stack.RemoveAt(stack.Count - 1);
-
-                int cx = stack[^1];
                 stack.RemoveAt(stack.Count - 1);
 
 
@@ -381,9 +379,7 @@ namespace DotRecast.Recast
                         {
                             srcReg[ai] = r;
                             srcDist[ai] = 0;
-                            stack.Add(ax);
+                            stack.Add(new RcLevelStackEntry(ax, ay, ai));
-                            stack.Add(ay);
-                            stack.Add(ai);
                         }
                     }
                 }
@@ -392,8 +388,11 @@ namespace DotRecast.Recast
             return count > 0;
         }
 
-        private static int[] ExpandRegions(int maxIter, int level, RcCompactHeightfield chf, int[] srcReg, int[] srcDist,
+        private static void ExpandRegions(int maxIter, int level,
-            List<int> stack, bool fillStack)
+            RcCompactHeightfield chf,
+            int[] srcReg, int[] srcDist,
+            List<RcLevelStackEntry> stack,
+            bool fillStack)
         {
             int w = chf.width;
             int h = chf.height;
@@ -411,9 +410,7 @@ namespace DotRecast.Recast
                         {
                             if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
                             {
-                                stack.Add(x);
+                                stack.Add(new RcLevelStackEntry(x, y, i));
-                                stack.Add(y);
-                                stack.Add(i);
                             }
                         }
                     }
@@ -422,28 +419,28 @@ namespace DotRecast.Recast
             else // use cells in the input stack
             {
                 // mark all cells which already have a region
-                for (int j = 0; j < stack.Count; j += 3)
+                for (int j = 0; j < stack.Count; j++)
                 {
-                    int i = stack[j + 2];
+                    int i = stack[j].index;
                     if (srcReg[i] != 0)
                     {
-                        stack[j + 2] = -1;
+                        stack[j] = new RcLevelStackEntry(stack[j].x, stack[j].y, -1);
                     }
                 }
             }
 
-            List<int> dirtyEntries = new List<int>();
+            List<RcDirtyEntry> dirtyEntries = new List<RcDirtyEntry>();
             int iter = 0;
             while (stack.Count > 0)
             {
                 int failed = 0;
                 dirtyEntries.Clear();
 
-                for (int j = 0; j < stack.Count; j += 3)
+                for (int j = 0; j < stack.Count; j++)
                 {
-                    int x = stack[j + 0];
+                    int x = stack[j].x;
-                    int y = stack[j + 1];
+                    int y = stack[j].y;
-                    int i = stack[j + 2];
+                    int i = stack[j].index;
                     if (i < 0)
                     {
                         failed++;
@@ -481,10 +478,8 @@ namespace DotRecast.Recast
 
                     if (r != 0)
                     {
-                        stack[j + 2] = -1; // mark as used
+                        stack[j] = new RcLevelStackEntry(stack[j].x, stack[j].y, -1); // mark as used
-                        dirtyEntries.Add(i);
+                        dirtyEntries.Add(new RcDirtyEntry(i, r, d2));
-                        dirtyEntries.Add(r);
-                        dirtyEntries.Add(d2);
                     }
                     else
                     {
@@ -493,14 +488,14 @@ namespace DotRecast.Recast
                 }
 
                 // Copy entries that differ between src and dst to keep them in sync.
-                for (int i = 0; i < dirtyEntries.Count; i += 3)
+                for (int i = 0; i < dirtyEntries.Count; i++)
                 {
-                    int idx = dirtyEntries[i];
+                    int idx = dirtyEntries[i].index;
-                    srcReg[idx] = dirtyEntries[i + 1];
+                    srcReg[idx] = dirtyEntries[i].region;
-                    srcDist[idx] = dirtyEntries[i + 2];
+                    srcDist[idx] = dirtyEntries[i].distance2;
                 }
 
-                if (failed * 3 == stack.Count())
+                if (failed == stack.Count())
                 {
                     break;
                 }
@@ -514,12 +509,13 @@ namespace DotRecast.Recast
                     }
                 }
             }
-
-            return srcReg;
         }
 
-        private static void SortCellsByLevel(int startLevel, RcCompactHeightfield chf, int[] srcReg, int nbStacks,
+        private static void SortCellsByLevel(int startLevel,
-            List<List<int>> stacks, int loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
+            RcCompactHeightfield chf,
+            int[] srcReg,
+            int nbStacks, List<List<RcLevelStackEntry>> stacks,
+            int loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
         {
             int w = chf.width;
             int h = chf.height;
@@ -555,27 +551,25 @@ namespace DotRecast.Recast
                             sId = 0;
                         }
 
-                        stacks[sId].Add(x);
+                        stacks[sId].Add(new RcLevelStackEntry(x, y, i));
-                        stacks[sId].Add(y);
-                        stacks[sId].Add(i);
                     }
                 }
             }
         }
 
-        private static void AppendStacks(List<int> srcStack, List<int> dstStack, int[] srcReg)
+        private static void AppendStacks(List<RcLevelStackEntry> srcStack,
+            List<RcLevelStackEntry> dstStack,
+            int[] srcReg)
         {
-            for (int j = 0; j < srcStack.Count; j += 3)
+            for (int j = 0; j < srcStack.Count; j++)
             {
-                int i = srcStack[j + 2];
+                int i = srcStack[j].index;
                 if ((i < 0) || (srcReg[i] != 0))
                 {
                     continue;
                 }
 
                 dstStack.Add(srcStack[j]);
-                dstStack.Add(srcStack[j + 1]);
-                dstStack.Add(srcStack[j + 2]);
             }
         }
 
@@ -847,7 +841,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterRegions(RcTelemetry ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
+        private static int MergeAndFilterRegions(RcContext ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
             RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
         {
             int w = chf.width;
@@ -1169,7 +1163,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterLayerRegions(RcTelemetry ctx, int minRegionArea, int maxRegionId, RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
+        private static bool MergeAndFilterLayerRegions(RcContext ctx, int minRegionArea, ref int maxRegionId, RcCompactHeightfield chf, int[] srcReg)
         {
             int w = chf.width;
             int h = chf.height;
@@ -1404,7 +1398,7 @@ namespace DotRecast.Recast
                 }
             }
 
-            return maxRegionId;
+            return true;
         }
 
         /// @par
@@ -1417,7 +1411,7 @@ namespace DotRecast.Recast
         /// and rcCompactHeightfield::dist fields.
         ///
         /// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
-        public static void BuildDistanceField(RcTelemetry ctx, RcCompactHeightfield chf)
+        public static void BuildDistanceField(RcContext ctx, RcCompactHeightfield chf)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD);
 
@@ -1478,7 +1472,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegionsMonotone(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegionsMonotone(RcContext ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
@@ -1660,7 +1654,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegions(RcContext ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
@@ -1673,13 +1667,13 @@ namespace DotRecast.Recast
 
             int LOG_NB_STACKS = 3;
             int NB_STACKS = 1 << LOG_NB_STACKS;
-            List<List<int>> lvlStacks = new List<List<int>>();
+            List<List<RcLevelStackEntry>> lvlStacks = new List<List<RcLevelStackEntry>>();
             for (int i = 0; i < NB_STACKS; ++i)
             {
-                lvlStacks.Add(new List<int>(1024));
+                lvlStacks.Add(new List<RcLevelStackEntry>(256));
             }
 
-            List<int> stack = new List<int>(1024);
+            List<RcLevelStackEntry> stack = new List<RcLevelStackEntry>(256);
 
             int[] srcReg = new int[chf.spanCount];
             int[] srcDist = new int[chf.spanCount];
@@ -1740,11 +1734,12 @@ namespace DotRecast.Recast
                 ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_FLOOD);
 
                 // Mark new regions with IDs.
-                for (int j = 0; j < lvlStacks[sId].Count; j += 3)
+                for (int j = 0; j < lvlStacks[sId].Count; j++)
                 {
-                    int x = lvlStacks[sId][j];
+                    RcLevelStackEntry current = lvlStacks[sId][j];
-                    int y = lvlStacks[sId][j + 1];
+                    int x = current.x;
-                    int i = lvlStacks[sId][j + 2];
+                    int y = current.y;
+                    int i = current.index;
                     if (i >= 0 && srcReg[i] == 0)
                     {
                         if (FloodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
@@ -1786,7 +1781,7 @@ namespace DotRecast.Recast
             }
         }
 
-        public static void BuildLayerRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea)
+        public static bool BuildLayerRegions(RcContext ctx, RcCompactHeightfield chf, int minRegionArea)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS);
 
@@ -1929,13 +1924,15 @@ namespace DotRecast.Recast
                 }
             }
 
-            ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
+            using (var timerFilter = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER))
-
+            {
-            // Merge monotone regions to layers and remove small regions.
+                // Merge monotone regions to layers and remove small regions.
-            List<int> overlaps = new List<int>();
+                chf.maxRegions = id;
-            chf.maxRegions = MergeAndFilterLayerRegions(ctx, minRegionArea, id, chf, srcReg, overlaps);
+                if (!MergeAndFilterLayerRegions(ctx, minRegionArea, ref chf.maxRegions, chf, srcReg))
-
+                {
-            ctx.StopTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
+                    return false;
+                }
+            }
 
             // Store the result out.
             for (int i = 0; i < chf.spanCount; ++i)
@@ -1945,6 +1942,8 @@ namespace DotRecast.Recast
                     .WithReg(srcReg[i])
                     .Build();
             }
+
+            return true;
         }
     }
 }

src/DotRecast.Recast/RcVoxelizations.cs

@@ -25,7 +25,7 @@ namespace DotRecast.Recast
 {
     public static class RcVoxelizations
     {
-        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RcBuilderConfig builderCfg, RcTelemetry ctx)
+        public static RcHeightfield BuildSolidHeightfield(RcContext ctx, IInputGeomProvider geomProvider, RcBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
 
@@ -34,13 +34,10 @@ namespace DotRecast.Recast
 
             // Allocate array that can hold triangle area types.
             // If you have multiple meshes you need to process, allocate
-            // and array which can hold the max number of triangles you need to
+            // and array which can hold the max number of triangles you need to process.
-            // process.
 
-            // Find triangles which are walkable based on their slope and rasterize
+            // Find triangles which are walkable based on their slope and rasterize them.
-            // them.
+            // If your input data is multiple meshes, you can transform them here, calculate
-            // If your input data is multiple meshes, you can transform them here,
-            // calculate
             // the are type for each of the meshes and rasterize them.
             foreach (RcTriMesh geom in geomProvider.Meshes())
             {
@@ -59,7 +56,7 @@ namespace DotRecast.Recast
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
                         int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-                        RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
+                        RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
                 else
@@ -67,7 +64,7 @@ namespace DotRecast.Recast
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
                     int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-                    RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
+                    RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                 }
             }
 

test/DotRecast.Core.Test/DotRecast.Core.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs

@@ -0,0 +1,101 @@
+using System;
+using System.Buffers;
+using System.Collections.Generic;
+using DotRecast.Core.Buffers;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcArrayBenchmarkTests
+{
+    private const int StepLength = 512;
+    private const int RandomLoop = 1000;
+    private readonly RcRand _rand = new RcRand();
+
+    private (string title, long ticks) Bench(string title, Action<int> source)
+    {
+        var begin = RcFrequency.Ticks;
+        for (int step = StepLength; step > 0; --step)
+        {
+            for (int i = 0; i < RandomLoop; ++i)
+            {
+                source.Invoke(step);
+            }
+        }
+
+        var end = RcFrequency.Ticks - begin;
+        return (title, end);
+    }
+
+
+    private void RoundForArray(int len)
+    {
+        var array = new int[len];
+        for (int ii = 0; ii < len; ++ii)
+        {
+            array[ii] = _rand.NextInt32();
+        }
+    }
+
+
+    private void RoundForPureRentArray(int len)
+    {
+        var array = ArrayPool<int>.Shared.Rent(len);
+        for (int ii = 0; ii < array.Length; ++ii)
+        {
+            array[ii] = _rand.NextInt32();
+        }
+
+        ArrayPool<int>.Shared.Return(array);
+    }
+
+
+    private void RoundForRcRentedArray(int len)
+    {
+        using var rentedArray = RcRentedArray.Rent<int>(len);
+        var array = rentedArray.AsArray();
+        for (int i = 0; i < rentedArray.Length; ++i)
+        {
+            array[i] = _rand.NextInt32();
+        }
+    }
+
+
+    private void RoundForRcStackArray(int len)
+    {
+        var array = new RcStackArray512<int>();
+        for (int ii = 0; ii < len; ++ii)
+        {
+            array[ii] = _rand.NextInt32();
+        }
+    }
+
+    private void RoundForStackalloc(int len)
+    {
+        Span<int> array = stackalloc int[len];
+        for (int ii = 0; ii < len; ++ii)
+        {
+            array[ii] = _rand.NextInt32();
+        }
+    }
+
+
+    [Test]
+    public void TestBenchmarkArrays()
+    {
+        var list = new List<(string title, long ticks)>();
+        list.Add(Bench("new int[len]", RoundForArray));
+        list.Add(Bench("ArrayPool<int>.Shared.Rent(len)", RoundForPureRentArray));
+        list.Add(Bench("RcRentedArray.Rent<int>(len)", RoundForRcRentedArray));
+        list.Add(Bench("new RcStackArray512<int>()", RoundForRcStackArray));
+        list.Add(Bench("stackalloc int[len]", RoundForStackalloc));
+
+        list.Sort((x, y) => x.ticks.CompareTo(y.ticks));
+
+        foreach (var t in list)
+        {
+            Console.WriteLine($"{t.title} {t.ticks / (double)TimeSpan.TicksPerMillisecond} ms");
+        }
+    }
+}

test/DotRecast.Core.Test/RcCyclicBufferTest.cs

@@ -0,0 +1,449 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using DotRecast.Core.Buffers;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+// https://github.com/joaoportela/CircularBuffer-CSharp/blob/master/CircularBuffer.Tests/CircularBufferTests.cs
+public class RcCyclicBufferTests
+{
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorConstructorCapacity_ReturnsEmptyCollection()
+    {
+        var buffer = new RcCyclicBuffer<string>(5);
+        Assert.That(buffer.ToArray(), Is.Empty);
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ConstructorSizeIndexAccess_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        Assert.That(buffer.Capacity, Is.EqualTo(5));
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        for (int i = 0; i < 4; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Constructor_ExceptionWhenSourceIsLargerThanCapacity()
+    {
+        Assert.Throws<ArgumentException>(() => new RcCyclicBuffer<int>(3, new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorConstructorDefinedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        int x = 0;
+        foreach (var item in buffer)
+        {
+            Assert.That(item, Is.EqualTo(x));
+            x++;
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushBack_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+        for (int i = 0; i < 5; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushBackOverflowingBuffer_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 6, 7, 8, 9 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorOverflowedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        // buffer should have [5,6,7,8,9]
+        int x = 5;
+        buffer.ForEach(item =>
+        {
+            Assert.That(item, Is.EqualTo(x));
+            x++;
+        });
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ToArrayConstructorDefinedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ToArrayOverflowedBuffer_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 6, 7, 8, 9 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushFront_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushFront(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 4, 3, 2, 1, 0 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushFrontAndOverflow_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushFront(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 9, 8, 7, 6, 5 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Front_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Back_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        Assert.That(buffer.Back(), Is.EqualTo(4));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_BackOfBufferOverflowByOne_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushBack(42);
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4, 42 }));
+        Assert.That(buffer.Back(), Is.EqualTo(42));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Front_EmptyBufferThrowsException()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        Assert.Throws<InvalidOperationException>(() => buffer.Front());
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Back_EmptyBufferThrowsException()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+        Assert.Throws<InvalidOperationException>(() => buffer.Back());
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopBack_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+
+        buffer.PopBack();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopBackInOverflowBuffer_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushBack(5);
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4, 5 }));
+
+        buffer.PopBack();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopFront_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+
+        buffer.PopFront();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopFrontInOverflowBuffer_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushFront(5);
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 0, 1, 2, 3 }));
+
+        buffer.PopFront();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_SetIndex_ReplacesElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        buffer[1] = 10;
+        buffer[3] = 30;
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 10, 2, 30, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_WithDifferentSizeAndCapacity_BackReturnsLastArrayPosition()
+    {
+        // test to confirm this issue does not happen anymore:
+        // https://github.com/joaoportela/RcCyclicBuffer-CSharp/issues/2
+
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        buffer.PopFront(); // (make size and capacity different)
+
+        Assert.That(buffer.Back(), Is.EqualTo(4));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Clear_ClearsContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 4, 3, 2, 1, 0 });
+
+        buffer.Clear();
+
+        Assert.That(buffer.Size, Is.EqualTo(0));
+        Assert.That(buffer.Capacity, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new int[0]));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Clear_WorksNormallyAfterClear()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 4, 3, 2, 1, 0 });
+
+        buffer.Clear();
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+        for (int i = 0; i < 5; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_RegularForEachWorks()
+    {
+        var refValues = new[] { 4, 3, 2, 1, 0 };
+        var buffer = new RcCyclicBuffer<int>(5, refValues);
+
+        var index = 0;
+        foreach (var element in buffer)
+        {
+            Assert.That(element, Is.EqualTo(refValues[index++]));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_EnumeratorWorks()
+    {
+        var refValues = new int[] { 4, 3, 2, 1, 0 };
+        var buffer = new RcCyclicBuffer<int>(5, refValues);
+
+
+        var index = 0;
+        using var enumerator = buffer.GetEnumerator();
+        enumerator.Reset();
+        while (enumerator.MoveNext())
+        {
+            Assert.That(enumerator.Current, Is.EqualTo(refValues[index++]));
+        }
+
+        // Ensure Reset works properly
+        index = 0;
+        enumerator.Reset();
+        while (enumerator.MoveNext())
+        {
+            Assert.That(enumerator.Current, Is.EqualTo(refValues[index++]));
+        }
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_Sum()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_Average()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_Min()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_Max()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumUnaligned()
+    {
+        var refValues = Enumerable.Range(-1, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_AverageUnaligned()
+    {
+        var refValues = Enumerable.Range(-1, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MinUnaligned()
+    {
+        var refValues = Enumerable.Range(5, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MaxUnaligned()
+    {
+        var refValues = Enumerable.Range(-5, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumDeleted()
+    {
+        var initialValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var refValues = initialValues.Skip(1).SkipLast(1).ToArray();
+        var buffer = new RcCyclicBuffer<long>(initialValues.Length, initialValues);
+        buffer.PopBack();
+        buffer.PopFront();
+        
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_AverageSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MinSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MaxSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+}

test/DotRecast.Core.Test/RcHashCodesTest.cs

@@ -0,0 +1,40 @@
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcHashCodesTest
+{
+    [Test]
+    public void TestCombineHashCodes()
+    {
+        Assert.That(RcHashCodes.CombineHashCodes(0, 0), Is.EqualTo(0));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue, int.MaxValue), Is.EqualTo(32));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue, int.MinValue), Is.EqualTo(-33));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MinValue, int.MinValue), Is.EqualTo(0));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MinValue, int.MaxValue), Is.EqualTo(-1));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue / 2, int.MaxValue / 2), Is.EqualTo(32));
+    }
+
+    [Test]
+    public void TestIntHash()
+    {
+        Assert.That(RcHashCodes.WangHash(0), Is.EqualTo(4158654902));
+        Assert.That(RcHashCodes.WangHash(1), Is.EqualTo(357654460));
+        Assert.That(RcHashCodes.WangHash(2), Is.EqualTo(715307540));
+        Assert.That(RcHashCodes.WangHash(3), Is.EqualTo(1072960876));
+        
+        Assert.That(RcHashCodes.WangHash(4), Is.EqualTo(1430614333));
+        Assert.That(RcHashCodes.WangHash(5), Is.EqualTo(1788267159));
+        Assert.That(RcHashCodes.WangHash(6), Is.EqualTo(2145921005));
+        Assert.That(RcHashCodes.WangHash(7), Is.EqualTo(2503556531));
+        
+        Assert.That(RcHashCodes.WangHash(8), Is.EqualTo(2861226262));
+        Assert.That(RcHashCodes.WangHash(9), Is.EqualTo(3218863982));
+        Assert.That(RcHashCodes.WangHash(10), Is.EqualTo(3576533554));
+        Assert.That(RcHashCodes.WangHash(11), Is.EqualTo(3934169234));
+        
+        //
+        Assert.That(RcHashCodes.WangHash(int.MaxValue), Is.EqualTo(1755403298));
+        Assert.That(RcHashCodes.WangHash(uint.MaxValue), Is.EqualTo(3971045735));
+    }
+}

test/DotRecast.Core.Test/RcRentedArrayTest.cs

@@ -0,0 +1,59 @@
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Buffers;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcRentedArrayTest
+{
+    public List<int> RandomValues(int length)
+    {
+        var rand = new RcRand();
+
+        // excepted values
+        var list = new List<int>();
+        for (int i = 0; i < length; ++i)
+        {
+            list.Add(rand.NextInt32());
+        }
+
+        return list;
+    }
+
+    [Test]
+    public void TestRentedArray()
+    {
+        var rand = new RcRand();
+        for (int loop = 0; loop < 1024; ++loop)
+        {
+            RcRentedArray<int> rentedArray;
+            {
+                int length = Math.Max(2, (int)(rand.Next() * 2048));
+                var values = RandomValues(length);
+                using var array = RcRentedArray.Rent<int>(length);
+
+                for (int i = 0; i < array.Length; ++i)
+                {
+                    array[i] = values[i];
+                }
+
+                for (int i = 0; i < array.Length; ++i)
+                {
+                    Assert.That(array[i], Is.EqualTo(values[i]));
+                }
+
+                Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+                Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+                Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+                Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+                Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+
+                // danger
+                rentedArray = array;
+            }
+            Assert.Throws<NullReferenceException>(() => rentedArray[^1] = 0);
+        }
+    }
+}

test/DotRecast.Core.Test/RcSortedQueueTest.cs

@@ -0,0 +1,114 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcSortedQueueTest
+{
+    [Test]
+    public void TestEnqueueAndDequeue()
+    {
+        var sortedQueue = new RcSortedQueue<int>((a, b) => a.CompareTo(b));
+
+        var r = new RcRand();
+        var expectedList = new List<int>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(r.NextInt32() % 300); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Sort();
+
+        // check count
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+        Assert.That(sortedQueue.IsEmpty(), Is.False);
+
+        Assert.That(sortedQueue.ToList(), Is.EqualTo(expectedList));
+
+        // check Peek and Dequeue
+        for (int i = 0; i < expectedList.Count; ++i)
+        {
+            Assert.That(sortedQueue.Peek(), Is.EqualTo(expectedList[i]));
+            Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count - i));
+
+            Assert.That(sortedQueue.Dequeue(), Is.EqualTo(expectedList[i]));
+            Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count - i - 1));
+        }
+
+        // check count
+        Assert.That(sortedQueue.Count(), Is.EqualTo(0));
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+    [Test]
+    public void TestRemoveForValueType()
+    {
+        var sortedQueue = new RcSortedQueue<int>((a, b) => a.CompareTo(b));
+
+        var r = new RcRand();
+        var expectedList = new List<int>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(r.NextInt32() % 300); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Shuffle();
+
+        // check
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+
+        foreach (var expected in expectedList)
+        {
+            Assert.That(sortedQueue.Remove(expected), Is.True);
+        }
+
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+    [Test]
+    public void TestRemoveForReferenceType()
+    {
+        var sortedQueue = new RcSortedQueue<RcAtomicLong>((a, b) => a.Read().CompareTo(b.Read()));
+
+        var r = new RcRand();
+        var expectedList = new List<RcAtomicLong>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(new RcAtomicLong(r.NextInt32() % 300)); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Shuffle();
+
+        // check
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+
+        foreach (var expected in expectedList)
+        {
+            Assert.That(sortedQueue.Remove(expected), Is.True);
+        }
+
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+}

test/DotRecast.Core.Test/RcStackArrayTest.cs

@@ -0,0 +1,272 @@
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+
+public class RcStackArrayTest
+{
+    public List<int> RandomValues(int size)
+    {
+        var rand = new RcRand();
+
+        // excepted values
+        var list = new List<int>();
+        for (int i = 0; i < size; ++i)
+        {
+            list.Add(rand.NextInt32());
+        }
+
+        return list;
+    }
+
+    [Test]
+    public void TestStackOverflow()
+    {
+        // normal
+        var array_128_512_1 = RcStackArray2<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+        
+        // warn
+        //var array_128_512_2 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+
+        // danger
+        // var array_32_512_1 = RcStackArray32<RcStackArray512<float>>.Empty; // 32 * 512 = 16384
+        // var array_16_512_1 = RcStackArray16<RcStackArray512<float>>.Empty; // 16 * 512 = 8192
+        // var array_8_512_1 = RcStackArray8<RcStackArray512<float>>.Empty; // 8 * 512 = 4196
+        // var array_4_256_1 = RcStackArray4<RcStackArray256<float>>.Empty; // 4 * 256 = 1024
+        // var array_4_64_1 = RcStackArray4<RcStackArray64<float>>.Empty; // 4 * 64 = 256
+        // var array_2_8_1 = RcStackArray2<RcStackArray8<float>>.Empty; // 2 * 8 = 16
+        // var array_2_4_1 = RcStackArray2<RcStackArray2<float>>.Empty; // 2 * 2 = 4
+
+        float f1 = 0.0f; // 1
+        //float f2 = 0.0f; // my system stack overflow!
+        Assert.That(f1, Is.EqualTo(0.0f));
+    }
+
+    [Test]
+    public void TestRcStackArray2()
+    {
+        var array = RcStackArray2<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(2));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray4()
+    {
+        var array = RcStackArray4<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(4));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray8()
+    {
+        var array = RcStackArray8<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(8));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray16()
+    {
+        var array = RcStackArray16<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(16));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray32()
+    {
+        var array = RcStackArray32<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(32));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray64()
+    {
+        var array = RcStackArray64<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(64));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray128()
+    {
+        var array = RcStackArray128<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(128));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray256()
+    {
+        var array = RcStackArray256<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(256));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray512()
+    {
+        var array = RcStackArray512<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(512));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+}

test/DotRecast.Core.Test/Vector3Test.cs

@@ -5,7 +5,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
 
-public class Vector3Tests
+public class Vector3Test
 {
     [Test]
     [Repeat(100000)]

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

@@ -25,7 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class AbstractCrowdTest
 {
     protected readonly long[] startRefs =

test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd1Test : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q0TVTA =

test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs

@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd4Test : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q2TVTA =

test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd4VelocityTest : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q3TVTA =

test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -25,7 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class PathCorridorTest
 {
     private readonly DtPathCorridor corridor = new DtPathCorridor();
@@ -34,6 +34,7 @@ public class PathCorridorTest
     [SetUp]
     public void SetUp()
     {
+        corridor.Init(256);
         corridor.Reset(0, new RcVec3f(10, 20, 30));
     }
 

test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -10,7 +10,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-[Parallelizable]
+
 public class DynamicNavMeshTest
 {
     private static readonly RcVec3f START_POS = new RcVec3f(70.87453f, 0.0010070801f, 86.69021f);

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs

@@ -25,7 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-[Parallelizable]
+
 public class VoxelFileReaderTest
 {
     [Test]

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs

@@ -25,7 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-[Parallelizable]
+
 public class VoxelFileReaderWriterTest
 {
     [TestCase(false)]

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

@@ -31,7 +31,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-[Parallelizable]
+
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;

test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -26,7 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Extras.Test.Unity.Astar;
 
-[Parallelizable]
+
 public class UnityAStarPathfindingImporterTest
 {
     [Test]

test/DotRecast.Detour.Test/AbstractDetourTest.cs

@@ -21,7 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public abstract class AbstractDetourTest
 {
     protected static readonly long[] startRefs =

test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs

@@ -21,7 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class ConvexConvexIntersectionTest
 {
     [Test]

test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Test/DtNodePoolTest.cs

@@ -0,0 +1,84 @@
+using System.Collections.Immutable;
+using System.Linq;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class DtNodePoolTest
+{
+    [Test]
+    public void TestGetNode()
+    {
+        var pool = new DtNodePool();
+
+        var node1St = pool.GetNode(0);
+        var node2St = pool.GetNode(0);
+        Assert.That(node1St, Is.SameAs(node2St));
+
+        node1St.state = 1;
+        var node3St = pool.GetNode(0);
+        Assert.That(node1St, Is.Not.SameAs(node3St));
+    }
+
+    [Test]
+    public void TestFindNode()
+    {
+        var pool = new DtNodePool();
+
+        var counts = ImmutableArray.Create(2, 3, 5);
+
+        // get and create
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            for (int ii = 0; ii < count; ++ii)
+            {
+                var node = pool.GetNode(i);
+                node.state = ii + 1;
+            }
+        }
+
+        int sum = counts.Sum();
+        Assert.That(sum, Is.EqualTo(10));
+
+        // check GetNodeIdx GetNodeAtIdx
+        for (int i = 0; i < sum; ++i)
+        {
+            var node = pool.GetNodeAtIdx(i);
+            var nodeIdx = pool.GetNodeIdx(node);
+            var nodeByIdx = pool.GetNodeAtIdx(nodeIdx);
+
+            Assert.That(node, Is.SameAs(nodeByIdx));
+            Assert.That(nodeIdx, Is.EqualTo(i));
+        }
+
+        // check count
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            var n = pool.FindNodes(i, out var nodes);
+            Assert.That(n, Is.EqualTo(count));
+            Assert.That(nodes, Has.Count.EqualTo(count));
+
+            var node = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node));
+
+            var node2 = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node2));
+        }
+
+        // check other count
+        {
+            var n = pool.FindNodes(4, out var nodes);
+            Assert.That(n, Is.EqualTo(0));
+            Assert.That(nodes, Is.Null);
+        }
+
+        var totalCount = pool.GetNodeCount();
+        Assert.That(totalCount, Is.EqualTo(sum));
+
+        pool.Clear();
+        totalCount = pool.GetNodeCount();
+        Assert.That(totalCount, Is.EqualTo(0));
+    }
+}

test/DotRecast.Detour.Test/DtNodeQueueTest.cs

@@ -0,0 +1,112 @@
+using System.Collections.Generic;
+using DotRecast.Core;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class DtNodeQueueTest
+{
+    private static List<DtNode> ShuffledNodes(int count)
+    {
+        var nodes = new List<DtNode>();
+        for (int i = 0; i < count; ++i)
+        {
+            var node = new DtNode(i);
+            node.total = i;
+            nodes.Add(node);
+        }
+
+        nodes.Shuffle();
+        return nodes;
+    }
+
+    [Test]
+    public void TestPushAndPop()
+    {
+        var queue = new DtNodeQueue();
+
+        // check count
+        Assert.That(queue.Count(), Is.EqualTo(0));
+        
+        // null push
+        queue.Push(null);
+        Assert.That(queue.Count(), Is.EqualTo(0));
+
+        // test push
+        const int count = 1000;
+        var expectedNodes = ShuffledNodes(count);
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(count));
+
+        // test pop
+        expectedNodes.Sort(DtNode.ComparisonNodeTotal);
+        foreach (var node in expectedNodes)
+        {
+            Assert.That(queue.Peek(), Is.SameAs(node));
+            Assert.That(queue.Pop(), Is.SameAs(node));
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(0));
+    }
+
+    [Test]
+    public void TestClear()
+    {
+        var queue = new DtNodeQueue();
+
+        const int count = 555;
+        var expectedNodes = ShuffledNodes(count);
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(count));
+
+        queue.Clear();
+        Assert.That(queue.Count(), Is.EqualTo(0));
+        Assert.That(queue.IsEmpty(), Is.True);
+    }
+    
+    [Test]
+    public void TestModify()
+    {
+        var queue = new DtNodeQueue();
+
+        const int count = 5000;
+        var expectedNodes = ShuffledNodes(count);
+        
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        // check modify
+        queue.Modify(null);
+
+        // change total
+        var r = new RcRand();
+        foreach (var node in expectedNodes)
+        {
+            node.total = r.NextInt32() % (count / 50); // duplication for test
+        }
+
+        // test modify
+        foreach (var node in expectedNodes)
+        {
+            queue.Modify(node);
+        }
+        
+        // check
+        expectedNodes.Sort(DtNode.ComparisonNodeTotal);
+        foreach (var node in expectedNodes)
+        {
+            Assert.That(queue.Pop(), Is.SameAs(node));
+        }
+    } 
+}

test/DotRecast.Detour.Test/FindDistanceToWallTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindDistanceToWallTest : AbstractDetourTest
 {
     private static readonly float[] DISTANCES_TO_WALL = { 0.597511f, 3.201085f, 0.603713f, 2.791475f, 2.815544f };

test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindLocalNeighbourhoodTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -21,7 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindNearestPolyTest : AbstractDetourTest
 {
     private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindPathTest : AbstractDetourTest
 {
     private static readonly DtStatus[] STATUSES =

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindPolysAroundCircleTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindPolysAroundShapeTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class GetPolyWallSegmentsTest : AbstractDetourTest
 {
     private static readonly RcSegmentVert[][] VERTICES =

test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs

@@ -23,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
+
 public class MeshDataReaderWriterTest
 {
     private const int VERTS_PER_POLYGON = 6;

test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs

@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
+
 public class MeshSetReaderTest
 {
     private readonly DtMeshSetReader reader = new DtMeshSetReader();

test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs

@@ -28,7 +28,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
+
 public class MeshSetReaderWriterTest
 {
     private readonly DtMeshSetWriter writer = new DtMeshSetWriter();

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class MoveAlongSurfaceTest : AbstractDetourTest
 {
     private static readonly long[][] VISITED =

test/DotRecast.Detour.Test/NavMeshBuilderTest.cs

@@ -21,7 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class NavMeshBuilderTest
 {
     private DtMeshData nmd;

test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs

@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class PolygonByCircleConstraintTest
 {
     private readonly IDtPolygonByCircleConstraint _constraint = DtStrictDtPolygonByCircleConstraint.Shared;

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -25,7 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class RandomPointTest : AbstractDetourTest
 {
     [Test]

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -23,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class TiledFindPathTest
 {
     private static readonly DtStatus[] STATUSES = { DtStatus.DT_SUCCESS };

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

@@ -27,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class AbstractTileCacheTest
 {
     private const int EXPECTED_LAYERS_PER_TILE = 4;

test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs

@@ -27,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-[Parallelizable]
+
 public class TileCacheReaderTest
 {
     private readonly DtTileCacheReader reader = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared);

test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs

@@ -28,7 +28,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-[Parallelizable]
+
 public class TileCacheReaderWriterTest : AbstractTileCacheTest
 {
     private readonly DtTileCacheReader reader = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared);

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

@@ -26,7 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TempObstaclesTest : AbstractTileCacheTest
 {
     [Test]

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

@@ -29,7 +29,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TileCacheFindPathTest : AbstractTileCacheTest
 {
     private readonly RcVec3f start = new RcVec3f(39.44734f, 9.998177f, -0.784811f);

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

@@ -26,7 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TileCacheNavigationTest : AbstractTileCacheTest
 {
     protected readonly long[] startRefs = { 281475006070787L };

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

@@ -26,7 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TileCacheTest : AbstractTileCacheTest
 {
     [Test]

test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.8.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.0.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.10.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/RecastLayersTest.cs

@@ -26,7 +26,7 @@ namespace DotRecast.Recast.Test;
 
 using static RcConstants;
 
-[Parallelizable]
+
 public class RecastLayersTest
 {
     private const float m_cellSize = 0.3f;

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -28,7 +28,7 @@ namespace DotRecast.Recast.Test;
 using static RcConstants;
 using static RcAreas;
 
-[Parallelizable]
+
 public class RecastSoloMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -101,7 +101,7 @@ public class RecastSoloMeshTest
         long time = RcFrequency.Ticks;
         RcVec3f bmin = geomProvider.GetMeshBoundsMin();
         RcVec3f bmax = geomProvider.GetMeshBoundsMax();
-        RcTelemetry m_ctx = new RcTelemetry();
+        RcContext m_ctx = new RcContext();
         //
         // Step 1. Initialize build config.
         //
@@ -140,7 +140,7 @@ public class RecastSoloMeshTest
             // If your input data is multiple meshes, you can transform them here, calculate
             // the are type for each of the meshes and rasterize them.
             int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-            RcRasterizations.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, m_ctx);
+            RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
         }
 
         //

test/DotRecast.Recast.Test/RecastTest.cs

@@ -23,7 +23,7 @@ namespace DotRecast.Recast.Test;
 
 using static RcConstants;
 
-[Parallelizable]
+
 public class RecastTest
 {
     [Test]
@@ -36,7 +36,7 @@ public class RecastTest
         int[] unwalkable_tri = { 0, 2, 1 };
         int nt = 1;
 
-        RcTelemetry ctx = new RcTelemetry();
+        RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
             RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -27,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-[Parallelizable]
+
 public class RecastTileMeshTest
 {
     private const float m_cellSize = 0.3f;