reformat

src/DotRecast.Core/ArrayUtils.cs

@@ -2,10 +2,8 @@
 
 namespace DotRecast.Core
 {
-
+    public static class ArrayUtils
-
+    {
-public static class ArrayUtils
-{
         public static T[] CopyOf<T>(T[] source, int startIdx, int length)
         {
             var deatArr = new T[length];
@@ -40,5 +38,5 @@ public static class ArrayUtils
 
             return temp;
         }
-}
+    }
 }

src/DotRecast.Core/AtomicBoolean.cs

@@ -2,10 +2,8 @@
 
 namespace DotRecast.Core
 {
-
+    public class AtomicBoolean
-
+    {
-public class AtomicBoolean
-{
         private volatile int _location;
 
         public bool set(bool v)
@@ -17,5 +15,5 @@ public class AtomicBoolean
         {
             return 0 != _location;
         }
-}
+    }
 }

src/DotRecast.Core/AtomicFloat.cs

@@ -2,10 +2,8 @@
 
 namespace DotRecast.Core
 {
-
+    public class AtomicFloat
-
+    {
-public class AtomicFloat
-{
         private volatile float _location;
 
         public AtomicFloat(float location)
@@ -27,5 +25,5 @@ public class AtomicFloat
         {
             return Interlocked.CompareExchange(ref _location, value, comparand);
         }
-}
+    }
 }

src/DotRecast.Core/AtomicInteger.cs

@@ -2,15 +2,12 @@
 
 namespace DotRecast.Core
 {
-
+    public class AtomicInteger
-
+    {
-public class AtomicInteger
-{
         private volatile int _location;
 
         public AtomicInteger() : this(0)
         {
-        
         }
 
         public AtomicInteger(int location)
@@ -64,6 +61,5 @@ public class AtomicInteger
         {
             return Interlocked.Add(ref _location, value);
         }
- 
+    }
-}
 }

src/DotRecast.Core/AtomicLong.cs

@@ -2,10 +2,8 @@
 
 namespace DotRecast.Core
 {
-
+    public class AtomicLong
-
+    {
-public class AtomicLong
-{
         private long _location;
 
         public AtomicLong() : this(0)
@@ -51,5 +49,5 @@ public class AtomicLong
         {
             return Interlocked.Add(ref _location, value);
         }
-}
+    }
 }

src/DotRecast.Core/ByteBuffer.cs

@@ -3,10 +3,8 @@ using System.Buffers.Binary;
 
 namespace DotRecast.Core
 {
-
+    public class ByteBuffer
-
+    {
-public class ByteBuffer
-{
         private ByteOrder _order;
         private byte[] _bytes;
         private int _position;
@@ -31,11 +29,13 @@ public class ByteBuffer
             _order = order;
         }
 
-    public int limit() {
+        public int limit()
+        {
             return _bytes.Length - _position;
         }
 
-    public int remaining() {
+        public int remaining()
+        {
             int rem = limit();
             return rem > 0 ? rem : 0;
         }
@@ -129,5 +129,5 @@ public class ByteBuffer
         {
             // ?
         }
-}
+    }
 }

src/DotRecast.Core/ByteOrder.cs

@@ -1,12 +1,9 @@
 namespace DotRecast.Core
 {
-
+    public enum ByteOrder
-
+    {
-public enum ByteOrder
-{
         /// <summary>Default on most Windows systems</summary>
         LITTLE_ENDIAN,
         BIG_ENDIAN,
-}
+    }
-
 }

src/DotRecast.Core/CollectionExtensions.cs

@@ -3,10 +3,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Core
 {
-
+    public static class CollectionExtensions
-
+    {
-public static class CollectionExtensions
-{
         public static void forEach<T>(this IEnumerable<T> collection, Action<T> action)
         {
             foreach (var item in collection)
@@ -28,5 +26,5 @@ public static class CollectionExtensions
                 list[n] = value;
             }
         }
-}
+    }
 }

src/DotRecast.Core/ConvexUtils.cs

@@ -20,38 +20,44 @@ using System.Collections.Generic;
 
 namespace DotRecast.Core
 {
-
+    public static class ConvexUtils
-
+    {
-public static class ConvexUtils {
-
         // Calculates convex hull on xz-plane of points on 'pts',
         // stores the indices of the resulting hull in 'out' and
         // returns number of points on hull.
-    public static List<int> convexhull(List<float> pts) {
+        public static List<int> convexhull(List<float> pts)
+        {
             int npts = pts.Count / 3;
             List<int> @out = new List<int>();
             // Find lower-leftmost point.
             int hull = 0;
-        for (int i = 1; i < npts; ++i) {
+            for (int i = 1; i < npts; ++i)
+            {
                 float[] a = new float[] { pts[i * 3], pts[i * 3 + 1], pts[i * 3 + 2] };
                 float[] b = new float[] { pts[hull * 3], pts[hull * 3 + 1], pts[hull * 3 + 2] };
-            if (cmppt(a, b)) {
+                if (cmppt(a, b))
+                {
                     hull = i;
                 }
             }
+
             // Gift wrap hull.
             int endpt = 0;
-        do {
+            do
+            {
                 @out.Add(hull);
                 endpt = 0;
-            for (int j = 1; j < npts; ++j) {
+                for (int j = 1; j < npts; ++j)
+                {
                     float[] a = new float[] { pts[hull * 3], pts[hull * 3 + 1], pts[hull * 3 + 2] };
                     float[] b = new float[] { pts[endpt * 3], pts[endpt * 3 + 1], pts[endpt * 3 + 2] };
                     float[] c = new float[] { pts[j * 3], pts[j * 3 + 1], pts[j * 3 + 2] };
-                if (hull == endpt || left(a, b, c)) {
+                    if (hull == endpt || left(a, b, c))
+                    {
                         endpt = j;
                     }
                 }
+
                 hull = endpt;
             } while (endpt != @out[0]);
 
@@ -59,31 +65,39 @@ public static class ConvexUtils {
         }
 
         // Returns true if 'a' is more lower-left than 'b'.
-    private static bool cmppt(float[] a, float[] b) {
+        private static bool cmppt(float[] a, float[] b)
-        if (a[0] < b[0]) {
+        {
+            if (a[0] < b[0])
+            {
                 return true;
             }
-        if (a[0] > b[0]) {
+
+            if (a[0] > b[0])
+            {
                 return false;
             }
-        if (a[2] < b[2]) {
+
+            if (a[2] < b[2])
+            {
                 return true;
             }
-        if (a[2] > b[2]) {
+
+            if (a[2] > b[2])
+            {
                 return false;
             }
+
             return false;
         }
 
         // Returns true if 'c' is left of line 'a'-'b'.
-    private static bool left(float[] a, float[] b, float[] c) {
+        private static bool left(float[] a, float[] b, float[] c)
+        {
             float u1 = b[0] - a[0];
             float v1 = b[2] - a[2];
             float u2 = c[0] - a[0];
             float v2 = c[2] - a[2];
             return u1 * v2 - v1 * u2 < 0;
         }
-
+    }
-}
-
 }

src/DotRecast.Core/DemoMath.cs

@@ -22,17 +22,18 @@ using System;
 
 namespace DotRecast.Core
 {
-
+    public class DemoMath
-
+    {
-public class DemoMath {
+        public static float vDistSqr(float[] v1, float[] v2, int i)
-    public static float vDistSqr(float[] v1, float[] v2, int i) {
+        {
             float dx = v2[i] - v1[0];
             float dy = v2[i + 1] - v1[1];
             float dz = v2[i + 2] - v1[2];
             return dx * dx + dy * dy + dz * dz;
         }
 
-    public static float[] vCross(float[] v1, float[] v2) {
+        public static float[] vCross(float[] v1, float[] v2)
+        {
             float[] dest = new float[3];
             dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
             dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
@@ -40,44 +41,53 @@ public class DemoMath {
             return dest;
         }
 
-    public static float vDot(float[] v1, float[] v2) {
+        public static float vDot(float[] v1, float[] v2)
+        {
             return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
         }
 
-    public static float sqr(float f) {
+        public static float sqr(float f)
+        {
             return f * f;
         }
 
-    public static float getPathLen(float[] path, int npath) {
+        public static float getPathLen(float[] path, int npath)
+        {
             float totd = 0;
-        for (int i = 0; i < npath - 1; ++i) {
+            for (int i = 0; i < npath - 1; ++i)
+            {
                 totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3));
             }
+
             return totd;
         }
 
-    public static float vDistSqr(float[] v, int i, int j) {
+        public static float vDistSqr(float[] v, int i, int j)
+        {
             float dx = v[i] - v[j];
             float dy = v[i + 1] - v[j + 1];
             float dz = v[i + 2] - v[j + 2];
             return dx * dx + dy * dy + dz * dz;
         }
 
-    public static float step(float threshold, float v) {
+        public static float step(float threshold, float v)
+        {
             return v < threshold ? 0.0f : 1.0f;
         }
 
-    public static int clamp(int v, int min, int max) {
+        public static int clamp(int v, int min, int max)
+        {
             return Math.Max(Math.Min(v, max), min);
         }
 
-    public static float clamp(float v, float min, float max) {
+        public static float clamp(float v, float min, float max)
+        {
             return Math.Max(Math.Min(v, max), min);
         }
 
-    public static float lerp(float f, float g, float u) {
+        public static float lerp(float f, float g, float u)
+        {
             return u * g + (1f - u) * f;
         }
-}
+    }
-
 }

src/DotRecast.Core/DotRecast.Core.csproj

@@ -5,8 +5,8 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="System.Collections.Immutable" Version="7.0.0" />
+        <PackageReference Include="System.Collections.Immutable" Version="7.0.0"/>
-        <PackageReference Include="System.Text.Json" Version="7.0.2" />
+        <PackageReference Include="System.Text.Json" Version="7.0.2"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Core/Loader.cs

@@ -2,10 +2,8 @@
 
 namespace DotRecast.Core
 {
-
+    public static class Loader
-
+    {
-public static class Loader
-{
         public static byte[] ToBytes(string filename)
         {
             var filepath = ToRPath(filename);
@@ -31,5 +29,5 @@ public static class Loader
 
             return filename;
         }
-}
+    }
 }

src/DotRecast.Core/NodeQueue.cs

@@ -22,13 +22,10 @@ using System;
 
 namespace DotRecast.Core
 {
+    using System.Collections.Generic;
 
-
+    public class OrderedQueue<T>
-using System.Collections.Generic;
+    {
-
-public class OrderedQueue<T>
-{
-
         private readonly List<T> _items;
         private readonly Comparison<T> _comparison;
 
@@ -43,7 +40,8 @@ public class OrderedQueue<T>
             return _items.Count;
         }
 
-    public void clear() {
+        public void clear()
+        {
             _items.Clear();
         }
 
@@ -59,12 +57,14 @@ public class OrderedQueue<T>
             return node;
         }
 
-    public void Enqueue(T item) {
+        public void Enqueue(T item)
+        {
             _items.Add(item);
             _items.Sort(_comparison);
         }
 
-    public void Remove(T item) {
+        public void Remove(T item)
+        {
             _items.Remove(item);
         }
 
@@ -72,6 +72,5 @@ public class OrderedQueue<T>
         {
             return 0 == _items.Count;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/CrowdAgent.cs

@@ -23,23 +23,27 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
+    using static DetourCommon;
 
-
+    /// Represents an agent managed by a #dtCrowd object.
-using static DetourCommon;
+    /// @ingroup crowd
-
+    public class CrowdAgent
-/// Represents an agent managed by a #dtCrowd object.
+    {
-/// @ingroup crowd
-public class CrowdAgent {
-
         /// The type of navigation mesh polygon the agent is currently traversing.
         /// @ingroup crowd
-    public enum CrowdAgentState {
+        public enum CrowdAgentState
-        DT_CROWDAGENT_STATE_INVALID, /// < The agent is not in a valid state.
+        {
-        DT_CROWDAGENT_STATE_WALKING, /// < The agent is traversing a normal navigation mesh polygon.
+            DT_CROWDAGENT_STATE_INVALID,
+
+            /// < The agent is not in a valid state.
+            DT_CROWDAGENT_STATE_WALKING,
+
+            /// < The agent is traversing a normal navigation mesh polygon.
             DT_CROWDAGENT_STATE_OFFMESH, /// < The agent is traversing an off-mesh connection.
         };
 
-    public enum MoveRequestState {
+        public enum MoveRequestState
+        {
             DT_CROWDAGENT_TARGET_NONE,
             DT_CROWDAGENT_TARGET_FAILED,
             DT_CROWDAGENT_TARGET_VALID,
@@ -50,57 +54,88 @@ public class CrowdAgent {
         };
 
         public readonly long idx;
+
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public CrowdAgentState state;
+
         /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the
         /// requested position, else false.
         public bool partial;
+
         /// The path corridor the agent is using.
         public PathCorridor corridor;
+
         /// The local boundary data for the agent.
         public LocalBoundary boundary;
+
         /// Time since the agent's path corridor was optimized.
         public float topologyOptTime;
+
         /// The known neighbors of the agent.
         public List<Crowd.CrowdNeighbour> neis = new List<Crowd.CrowdNeighbour>();
+
         /// The desired speed.
         public float desiredSpeed;
 
-    public float[] npos = new float[3]; /// < The current agent position. [(x, y, z)]
+        public float[] npos = new float[3];
-    public float[] disp = new float[3]; /// < A temporary value used to accumulate agent displacement during iterative
+
+        /// < The current agent position. [(x, y, z)]
+        public float[] disp = new float[3];
+
+        /// < A temporary value used to accumulate agent displacement during iterative
         /// collision resolution. [(x, y, z)]
-    public float[] dvel = new float[3]; /// < The desired velocity of the agent. Based on the current path, calculated
+        public float[] dvel = new float[3];
+
+        /// < The desired velocity of the agent. Based on the current path, calculated
         /// from
         /// scratch each frame. [(x, y, z)]
-    public float[] nvel = new float[3]; /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each
+        public float[] nvel = new float[3];
-                                 /// frame. [(x, y, z)]
-    public float[] vel = new float[3]; /// < The actual velocity of the agent. The change from nvel -> vel is
-                                       /// constrained by max acceleration. [(x, y, z)]
 
+        /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each
+        /// frame. [(x, y, z)]
+        public float[] vel = new float[3];
+
+        /// < 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 CrowdAgentParams option;
+
         /// The local path corridor corners for the agent.
         public List<StraightPathItem> corners = new List<StraightPathItem>();
 
-    public MoveRequestState targetState; /// < State of the movement request.
+        public MoveRequestState targetState;
-    public long targetRef; /// < Target polyref of the movement request.
+
-    public float[] targetPos = new float[3]; /// < Target position of the movement request (or velocity in case of
+        /// < State of the movement request.
+        public long targetRef;
+
+        /// < Target polyref of the movement request.
+        public float[] targetPos = new float[3];
+
+        /// < Target position of the movement request (or velocity in case of
         /// DT_CROWDAGENT_TARGET_VELOCITY).
-    public PathQueryResult targetPathQueryResult; /// < Path finder query
+        public PathQueryResult targetPathQueryResult;
-    public bool targetReplan; /// < Flag indicating that the current path is being replanned.
+
-    public float targetReplanTime; /// <Time since the agent's target was replanned.
+        /// < 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 CrowdAgentAnimation animation;
 
-    public CrowdAgent(int idx) {
+        public CrowdAgent(int idx)
+        {
             this.idx = idx;
             corridor = new PathCorridor();
             boundary = new LocalBoundary();
             animation = new CrowdAgentAnimation();
         }
 
-    public void integrate(float dt) {
+        public void integrate(float dt)
+        {
             // Fake dynamic constraint.
             float maxDelta = option.maxAcceleration * dt;
             float[] dv = vSub(nvel, vel);
@@ -116,13 +151,17 @@ public class CrowdAgent {
                 vSet(vel, 0, 0, 0);
         }
 
-    public bool overOffmeshConnection(float radius) {
+        public bool overOffmeshConnection(float radius)
+        {
             if (0 == corners.Count)
                 return false;
 
             bool offMeshConnection = ((corners[corners.Count - 1].getFlags()
-                & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) ? true : false;
+                                       & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
-        if (offMeshConnection) {
+                ? true
+                : false;
+            if (offMeshConnection)
+            {
                 float distSq = vDist2DSqr(npos, corners[corners.Count - 1].getPos());
                 if (distSq < radius * radius)
                     return true;
@@ -131,7 +170,8 @@ public class CrowdAgent {
             return false;
         }
 
-    public float getDistanceToGoal(float range) {
+        public float getDistanceToGoal(float range)
+        {
             if (0 == corners.Count)
                 return range;
 
@@ -142,10 +182,11 @@ public class CrowdAgent {
             return range;
         }
 
-    public float[] calcSmoothSteerDirection() {
+        public float[] calcSmoothSteerDirection()
+        {
             float[] dir = new float[3];
-        if (0 < corners.Count) {
+            if (0 < corners.Count)
-
+            {
                 int ip0 = 0;
                 int ip1 = Math.Min(1, corners.Count - 1);
                 float[] p0 = corners[ip0].getPos();
@@ -167,29 +208,36 @@ public class CrowdAgent {
 
                 vNormalize(dir);
             }
+
             return dir;
         }
 
-    public float[] calcStraightSteerDirection() {
+        public float[] calcStraightSteerDirection()
+        {
             float[] dir = new float[3];
-        if (0 < corners.Count) {
+            if (0 < corners.Count)
+            {
                 dir = vSub(corners[0].getPos(), npos);
                 dir[1] = 0;
                 vNormalize(dir);
             }
+
             return dir;
         }
 
-    public void setTarget(long refs, float[] pos) {
+        public void setTarget(long refs, float[] pos)
+        {
             targetRef = refs;
             vCopy(targetPos, pos);
             targetPathQueryResult = null;
-        if (targetRef != 0) {
+            if (targetRef != 0)
+            {
                 targetState = MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING;
-        } else {
+            }
+            else
+            {
                 targetState = MoveRequestState.DT_CROWDAGENT_TARGET_FAILED;
             }
         }
-
+    }
-}
 }

src/DotRecast.Detour.Crowd/CrowdAgentAnimation.cs

@@ -17,18 +17,16 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Crowd
 {
-
+    public class CrowdAgentAnimation
-
+    {
-public class CrowdAgentAnimation {
         public bool active;
         public float[] initPos = new float[3];
         public float[] startPos = new float[3];
         public float[] endPos = new float[3];
         public long polyRef;
         public float t, tmax;
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/CrowdAgentParams.cs

@@ -22,33 +22,44 @@ using System;
 
 namespace DotRecast.Detour.Crowd
 {
+    /// Configuration parameters for a crowd agent.
+    /// @ingroup crowd
+    public class CrowdAgentParams
+    {
+        public float radius;
 
+        /// < Agent radius. [Limit: >= 0]
+        public float height;
 
-/// Configuration parameters for a crowd agent.
+        /// < Agent height. [Limit: > 0]
-/// @ingroup crowd
+        public float maxAcceleration;
-public class CrowdAgentParams {
-    public float radius; /// < Agent radius. [Limit: >= 0]
-    public float height; /// < Agent height. [Limit: > 0]
-    public float maxAcceleration; /// < Maximum allowed acceleration. [Limit: >= 0]
-    public float maxSpeed; /// < Maximum allowed speed. [Limit: >= 0]
 
+        /// < Maximum allowed acceleration. [Limit: >= 0]
+        public float maxSpeed;
+
+        /// < Maximum allowed speed. [Limit: >= 0]
         /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
         public float collisionQueryRange;
 
-    public float pathOptimizationRange; /// < The path visibility optimization range. [Limit: > 0]
+        public float pathOptimizationRange;
 
+        /// < The path visibility optimization range. [Limit: > 0]
         /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
         public float separationWeight;
 
         /// Crowd agent update flags.
         public const int DT_CROWD_ANTICIPATE_TURNS = 1;
+
         public const int DT_CROWD_OBSTACLE_AVOIDANCE = 2;
         public const int DT_CROWD_SEPARATION = 4;
-    public const int DT_CROWD_OPTIMIZE_VIS = 8; /// < Use #dtPathCorridor::optimizePathVisibility() to optimize
+        public const int DT_CROWD_OPTIMIZE_VIS = 8;
-                                                       /// the agent path.
-    public const int DT_CROWD_OPTIMIZE_TOPO = 16; /// < Use dtPathCorridor::optimizePathTopology() to optimize
-                                                         /// the agent path.
 
+        /// < Use #dtPathCorridor::optimizePathVisibility() to optimize
+        /// the agent path.
+        public const int DT_CROWD_OPTIMIZE_TOPO = 16;
+
+        /// < Use dtPathCorridor::optimizePathTopology() to optimize
+        /// the agent path.
         /// Flags that impact steering behavior. (See: #UpdateFlags)
         public int updateFlags;
 
@@ -61,5 +72,5 @@ public class CrowdAgentParams {
 
         /// User defined data attached to the agent.
         public object userData;
-}
+    }
 }

src/DotRecast.Detour.Crowd/CrowdConfig.cs

@@ -18,53 +18,60 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour.Crowd
 {
-
+    public class CrowdConfig
-
+    {
-public class CrowdConfig {
-
         public readonly float maxAgentRadius;
+
         /**
      * Max number of path requests in the queue
      */
         public int pathQueueSize = 32;
+
         /**
      * Max number of sliced path finding iterations executed per update (used to handle longer paths and replans)
      */
         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;
+
         /**
      * 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 CrowdConfig(float maxAgentRadius) {
+        public CrowdConfig(float maxAgentRadius)
+        {
             this.maxAgentRadius = maxAgentRadius;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/CrowdTelemetry.cs

@@ -23,48 +23,53 @@ using System.Linq;
 
 namespace DotRecast.Detour.Crowd
 {
-
+    public class CrowdTelemetry
-
+    {
-
-public class CrowdTelemetry {
-
         public const int TIMING_SAMPLES = 10;
         private float _maxTimeToEnqueueRequest;
         private float _maxTimeToFindPath;
         private readonly Dictionary<string, long> _executionTimings = new Dictionary<string, long>();
         private readonly Dictionary<string, List<long>> _executionTimingSamples = new Dictionary<string, List<long>>();
 
-    public float maxTimeToEnqueueRequest() {
+        public float maxTimeToEnqueueRequest()
+        {
             return _maxTimeToEnqueueRequest;
         }
 
-    public float maxTimeToFindPath() {
+        public float maxTimeToFindPath()
+        {
             return _maxTimeToFindPath;
         }
 
-    public Dictionary<string, long> executionTimings() {
+        public Dictionary<string, long> executionTimings()
+        {
             return _executionTimings;
         }
 
-    public void start() {
+        public void start()
+        {
             _maxTimeToEnqueueRequest = 0;
             _maxTimeToFindPath = 0;
             _executionTimings.Clear();
         }
 
-    public void recordMaxTimeToEnqueueRequest(float time) {
+        public void recordMaxTimeToEnqueueRequest(float time)
+        {
             _maxTimeToEnqueueRequest = Math.Max(_maxTimeToEnqueueRequest, time);
         }
 
-    public void recordMaxTimeToFindPath(float time) {
+        public void recordMaxTimeToFindPath(float time)
+        {
             _maxTimeToFindPath = Math.Max(_maxTimeToFindPath, time);
         }
 
-    public void start(string name) {
+        public void start(string name)
+        {
             _executionTimings.Add(name, Stopwatch.GetTimestamp());
         }
 
-    public void stop(string name) {
+        public void stop(string name)
+        {
             long duration = Stopwatch.GetTimestamp() - _executionTimings[name];
             if (!_executionTimingSamples.TryGetValue(name, out var s))
             {
@@ -72,12 +77,13 @@ public class CrowdTelemetry {
                 _executionTimingSamples.Add(name, s);
             }
 
-        if (s.Count == TIMING_SAMPLES) {
+            if (s.Count == TIMING_SAMPLES)
+            {
                 s.RemoveAt(0);
             }
+
             s.Add(duration);
-        _executionTimings[name] = (long) s.Average();
+            _executionTimings[name] = (long)s.Average();
+        }
     }
 }
-
-}

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

@@ -6,7 +6,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour.Crowd/LocalBoundary.cs

@@ -23,17 +23,17 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
+    using static DetourCommon;
 
-
+    public class LocalBoundary
-using static DetourCommon;
+    {
-
-public class LocalBoundary {
-
         public const int MAX_LOCAL_SEGS = 8;
 
-    private class Segment {
+        private class Segment
+        {
             /** Segment start/end */
             public float[] s = new float[6];
+
             /** Distance for pruning. */
             public float d;
         }
@@ -42,67 +42,91 @@ public class LocalBoundary {
         List<Segment> m_segs = new List<Segment>();
         List<long> m_polys = new List<long>();
 
-    public LocalBoundary() {
+        public LocalBoundary()
+        {
             m_center[0] = m_center[1] = m_center[2] = float.MaxValue;
         }
 
-    public void reset() {
+        public void reset()
+        {
             m_center[0] = m_center[1] = m_center[2] = float.MaxValue;
             m_polys.Clear();
             m_segs.Clear();
         }
 
-    protected void addSegment(float dist, float[] s) {
+        protected void addSegment(float dist, float[] s)
+        {
             // Insert neighbour based on the distance.
             Segment seg = new Segment();
             Array.Copy(s, seg.s, 6);
             seg.d = dist;
-        if (0 == m_segs.Count) {
+            if (0 == m_segs.Count)
+            {
                 m_segs.Add(seg);
-        } else if (dist >= m_segs[m_segs.Count - 1].d) {
+            }
-            if (m_segs.Count >= MAX_LOCAL_SEGS) {
+            else if (dist >= m_segs[m_segs.Count - 1].d)
+            {
+                if (m_segs.Count >= MAX_LOCAL_SEGS)
+                {
                     return;
                 }
+
                 m_segs.Add(seg);
-        } else {
+            }
+            else
+            {
                 // Insert inbetween.
                 int i;
-            for (i = 0; i < m_segs.Count; ++i) {
+                for (i = 0; i < m_segs.Count; ++i)
-                if (dist <= m_segs[i].d) {
+                {
+                    if (dist <= m_segs[i].d)
+                    {
                         break;
                     }
                 }
+
                 m_segs.Insert(i, seg);
             }
-        while (m_segs.Count > MAX_LOCAL_SEGS) {
+
+            while (m_segs.Count > MAX_LOCAL_SEGS)
+            {
                 m_segs.RemoveAt(m_segs.Count - 1);
             }
         }
 
-    public void update(long refs, float[] pos, float collisionQueryRange, NavMeshQuery navquery, QueryFilter filter) {
+        public void update(long refs, float[] pos, float collisionQueryRange, NavMeshQuery navquery, QueryFilter filter)
-        if (refs == 0) {
+        {
+            if (refs == 0)
+            {
                 reset();
                 return;
             }
+
             vCopy(m_center, pos);
             // First query non-overlapping polygons.
             Result<FindLocalNeighbourhoodResult> res = navquery.findLocalNeighbourhood(refs, pos, collisionQueryRange,
                 filter);
-        if (res.succeeded()) {
+            if (res.succeeded())
+            {
                 m_polys = res.result.getRefs();
                 m_segs.Clear();
                 // Secondly, store all polygon edges.
-            for (int j = 0; j < m_polys.Count; ++j) {
+                for (int j = 0; j < m_polys.Count; ++j)
+                {
                     Result<GetPolyWallSegmentsResult> result = navquery.getPolyWallSegments(m_polys[j], false, filter);
-                if (result.succeeded()) {
+                    if (result.succeeded())
+                    {
                         GetPolyWallSegmentsResult gpws = result.result;
-                    for (int k = 0; k < gpws.getSegmentRefs().Count; ++k) {
+                        for (int k = 0; k < gpws.getSegmentRefs().Count; ++k)
+                        {
                             float[] s = gpws.getSegmentVerts()[k];
                             // Skip too distant segments.
                             Tuple<float, float> distseg = distancePtSegSqr2D(pos, s, 0, 3);
-                        if (distseg.Item1 > sqr(collisionQueryRange)) {
+                            if (distseg.Item1 > sqr(collisionQueryRange))
+                            {
                                 continue;
                             }
+
                             addSegment(distseg.Item1, s);
                         }
                     }
@@ -110,14 +134,18 @@ public class LocalBoundary {
             }
         }
 
-    public bool isValid(NavMeshQuery navquery, QueryFilter filter) {
+        public bool isValid(NavMeshQuery navquery, QueryFilter filter)
-        if (m_polys.Count == 0) {
+        {
+            if (m_polys.Count == 0)
+            {
                 return false;
             }
 
             // Check that all polygons still pass query filter.
-        foreach (long refs in m_polys) {
+            foreach (long refs in m_polys)
-            if (!navquery.isValidPolyRef(refs, filter)) {
+            {
+                if (!navquery.isValidPolyRef(refs, filter))
+                {
                     return false;
                 }
             }
@@ -125,17 +153,19 @@ public class LocalBoundary {
             return true;
         }
 
-    public float[] getCenter() {
+        public float[] getCenter()
+        {
             return m_center;
         }
 
-    public float[] getSegment(int j) {
+        public float[] getSegment(int j)
+        {
             return m_segs[j].s;
         }
 
-    public int getSegmentCount() {
+        public int getSegmentCount()
+        {
             return m_segs.Count;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -23,51 +23,70 @@ using DotRecast.Detour.Crowd.Tracking;
 
 namespace DotRecast.Detour.Crowd
 {
+    using static DetourCommon;
 
+    public class ObstacleAvoidanceQuery
+    {
+        public const int DT_MAX_PATTERN_DIVS = 32;
 
-using static DetourCommon;
+        /// < Max numver of adaptive divs.
+        public const int DT_MAX_PATTERN_RINGS = 4;
 
-public class ObstacleAvoidanceQuery {
+        /// < Max number of adaptive rings.
-
+        public class ObstacleCircle
-    public const int DT_MAX_PATTERN_DIVS = 32; /// < Max numver of adaptive divs.
+        {
-    public const int DT_MAX_PATTERN_RINGS = 4; /// < Max number of adaptive rings.
-
-    public class ObstacleCircle {
             /** Position of the obstacle */
             public readonly float[] p = new float[3];
+
             /** Velocity of the obstacle */
             public readonly float[] vel = new float[3];
+
             /** Velocity of the obstacle */
             public readonly float[] dvel = new float[3];
+
             /** Radius of the obstacle */
             public float rad;
+
             /** Use for side selection during sampling. */
             public readonly float[] dp = new float[3];
+
             /** Use for side selection during sampling. */
             public readonly float[] np = new float[3];
         }
 
-    public class ObstacleSegment {
+        public class ObstacleSegment
+        {
             /** End points of the obstacle segment */
             public readonly float[] p = new float[3];
+
             /** End points of the obstacle segment */
             public readonly float[] q = new float[3];
+
             public bool touch;
         }
 
-    public class ObstacleAvoidanceParams {
+        public class ObstacleAvoidanceParams
+        {
             public float velBias;
             public float weightDesVel;
             public float weightCurVel;
             public float weightSide;
             public float weightToi;
             public float horizTime;
-        public int gridSize; /// < grid
+            public int gridSize;
-        public int adaptiveDivs; /// < adaptive
-        public int adaptiveRings; /// < adaptive
-        public int adaptiveDepth; /// < adaptive
 
-        public ObstacleAvoidanceParams() {
+            /// < grid
+            public int adaptiveDivs;
+
+            /// < adaptive
+            public int adaptiveRings;
+
+            /// < adaptive
+            public int adaptiveDepth;
+
+            /// < adaptive
+            public ObstacleAvoidanceParams()
+            {
                 velBias = 0.4f;
                 weightDesVel = 2.0f;
                 weightCurVel = 0.75f;
@@ -80,7 +99,8 @@ public class ObstacleAvoidanceQuery {
                 adaptiveDepth = 5;
             }
 
-        public ObstacleAvoidanceParams(ObstacleAvoidanceParams option) {
+            public ObstacleAvoidanceParams(ObstacleAvoidanceParams option)
+            {
                 velBias = option.velBias;
                 weightDesVel = option.weightDesVel;
                 weightCurVel = option.weightCurVel;
@@ -107,27 +127,33 @@ public class ObstacleAvoidanceQuery {
         private readonly ObstacleSegment[] m_segments;
         private int m_nsegments;
 
-    public ObstacleAvoidanceQuery(int maxCircles, int maxSegments) {
+        public ObstacleAvoidanceQuery(int maxCircles, int maxSegments)
+        {
             m_maxCircles = maxCircles;
             m_ncircles = 0;
             m_circles = new ObstacleCircle[m_maxCircles];
-        for (int i = 0; i < m_maxCircles; i++) {
+            for (int i = 0; i < m_maxCircles; i++)
+            {
                 m_circles[i] = new ObstacleCircle();
             }
+
             m_maxSegments = maxSegments;
             m_nsegments = 0;
             m_segments = new ObstacleSegment[m_maxSegments];
-        for (int i = 0; i < m_maxSegments; i++) {
+            for (int i = 0; i < m_maxSegments; i++)
+            {
                 m_segments[i] = new ObstacleSegment();
             }
         }
 
-    public void reset() {
+        public void reset()
+        {
             m_ncircles = 0;
             m_nsegments = 0;
         }
 
-    public void addCircle(float[] pos, float rad, float[] vel, float[] dvel) {
+        public void addCircle(float[] pos, float rad, float[] vel, float[] dvel)
+        {
             if (m_ncircles >= m_maxCircles)
                 return;
 
@@ -138,7 +164,8 @@ public class ObstacleAvoidanceQuery {
             vCopy(cir.dvel, dvel);
         }
 
-    public void addSegment(float[] p, float[] q) {
+        public void addSegment(float[] p, float[] q)
+        {
             if (m_nsegments >= m_maxSegments)
                 return;
             ObstacleSegment seg = m_segments[m_nsegments++];
@@ -146,25 +173,31 @@ public class ObstacleAvoidanceQuery {
             vCopy(seg.q, q);
         }
 
-    public int getObstacleCircleCount() {
+        public int getObstacleCircleCount()
+        {
             return m_ncircles;
         }
 
-    public ObstacleCircle getObstacleCircle(int i) {
+        public ObstacleCircle getObstacleCircle(int i)
+        {
             return m_circles[i];
         }
 
-    public int getObstacleSegmentCount() {
+        public int getObstacleSegmentCount()
+        {
             return m_nsegments;
         }
 
-    public ObstacleSegment getObstacleSegment(int i) {
+        public ObstacleSegment getObstacleSegment(int i)
+        {
             return m_segments[i];
         }
 
-    private void prepare(float[] pos, float[] dvel) {
+        private void prepare(float[] pos, float[] dvel)
+        {
             // Prepare obstacles
-        for (int i = 0; i < m_ncircles; ++i) {
+            for (int i = 0; i < m_ncircles; ++i)
+            {
                 ObstacleCircle cir = m_circles[i];
 
                 // Side
@@ -178,16 +211,20 @@ public class ObstacleAvoidanceQuery {
                 dv = vSub(cir.dvel, dvel);
 
                 float a = triArea2D(orig, cir.dp, dv);
-            if (a < 0.01f) {
+                if (a < 0.01f)
+                {
                     cir.np[0] = -cir.dp[2];
                     cir.np[2] = cir.dp[0];
-            } else {
+                }
+                else
+                {
                     cir.np[0] = cir.dp[2];
                     cir.np[2] = -cir.dp[0];
                 }
             }
 
-        for (int i = 0; i < m_nsegments; ++i) {
+            for (int i = 0; i < m_nsegments; ++i)
+            {
                 ObstacleSegment seg = m_segments[i];
 
                 // Precalc if the agent is really close to the segment.
@@ -197,7 +234,8 @@ public class ObstacleAvoidanceQuery {
             }
         }
 
-    SweepCircleCircleResult sweepCircleCircle(float[] c0, float r0, float[] v, float[] c1, float r1) {
+        SweepCircleCircleResult sweepCircleCircle(float[] c0, float r0, float[] v, float[] c1, float r1)
+        {
             const float EPS = 0.0001f;
             float[] s = vSub(c1, c0);
             float r = r0 + r1;
@@ -212,11 +250,12 @@ public class ObstacleAvoidanceQuery {
             if (d < 0.0f)
                 return new SweepCircleCircleResult(false, 0f, 0f); // no intersection.
             a = 1.0f / a;
-        float rd = (float) Math.Sqrt(d);
+            float rd = (float)Math.Sqrt(d);
             return new SweepCircleCircleResult(true, (b - rd) * a, (b + rd) * a);
         }
 
-    Tuple<bool, float> isectRaySeg(float[] ap, float[] u, float[] bp, float[] bq) {
+        Tuple<bool, float> isectRaySeg(float[] ap, float[] u, float[] bp, float[] bq)
+        {
             float[] v = vSub(bq, bp);
             float[] w = vSub(ap, bp);
             float d = vPerp2D(u, v);
@@ -243,7 +282,8 @@ public class ObstacleAvoidanceQuery {
      *            threshold penalty for early out
      */
         private float processSample(float[] vcand, float cs, float[] pos, float rad, float[] vel, float[] dvel,
-            float minPenalty, ObstacleAvoidanceDebugData debug) {
+            float minPenalty, ObstacleAvoidanceDebugData debug)
+        {
             // penalty for straying away from the desired and current velocities
             float vpen = m_params.weightDesVel * (vDist2D(vcand, dvel) * m_invVmax);
             float vcpen = m_params.weightCurVel * (vDist2D(vcand, vel) * m_invVmax);
@@ -260,7 +300,8 @@ public class ObstacleAvoidanceQuery {
             float side = 0;
             int nside = 0;
 
-        for (int i = 0; i < m_ncircles; ++i) {
+            for (int i = 0; i < m_ncircles; ++i)
+            {
                 ObstacleCircle cir = m_circles[i];
 
                 // RVO
@@ -278,14 +319,17 @@ public class ObstacleAvoidanceQuery {
                 float htmin = sres.htmin, htmax = sres.htmax;
 
                 // Handle overlapping obstacles.
-            if (htmin < 0.0f && htmax > 0.0f) {
+                if (htmin < 0.0f && htmax > 0.0f)
+                {
                     // Avoid more when overlapped.
                     htmin = -htmin * 0.5f;
                 }
 
-            if (htmin >= 0.0f) {
+                if (htmin >= 0.0f)
+                {
                     // The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-                if (htmin < tmin) {
+                    if (htmin < tmin)
+                    {
                         tmin = htmin;
                         if (tmin < tThresold)
                             return minPenalty;
@@ -293,11 +337,13 @@ public class ObstacleAvoidanceQuery {
                 }
             }
 
-        for (int i = 0; i < m_nsegments; ++i) {
+            for (int i = 0; i < m_nsegments; ++i)
+            {
                 ObstacleSegment seg = m_segments[i];
                 float htmin = 0;
 
-            if (seg.touch) {
+                if (seg.touch)
+                {
                     // Special case when the agent is very close to the segment.
                     float[] sdir = vSub(seg.q, seg.p);
                     float[] snorm = new float[3];
@@ -308,7 +354,9 @@ public class ObstacleAvoidanceQuery {
                         continue;
                     // Else immediate collision.
                     htmin = 0.0f;
-            } else {
+                }
+                else
+                {
                     Tuple<bool, float> ires = isectRaySeg(pos, vcand, seg.p, seg.q);
                     if (!ires.Item1)
                         continue;
@@ -319,7 +367,8 @@ public class ObstacleAvoidanceQuery {
                 htmin *= 2.0f;
 
                 // The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-            if (htmin < tmin) {
+                if (htmin < tmin)
+                {
                     tmin = htmin;
                     if (tmin < tThresold)
                         return minPenalty;
@@ -342,7 +391,8 @@ public class ObstacleAvoidanceQuery {
         }
 
         public Tuple<int, float[]> sampleVelocityGrid(float[] pos, float rad, float vmax, float[] vel, float[] dvel,
-            ObstacleAvoidanceParams option, ObstacleAvoidanceDebugData debug) {
+            ObstacleAvoidanceParams option, ObstacleAvoidanceDebugData debug)
+        {
             prepare(pos, dvel);
             m_params = option;
             m_invHorizTime = 1.0f / m_params.horizTime;
@@ -363,8 +413,10 @@ public class ObstacleAvoidanceQuery {
             float minPenalty = float.MaxValue;
             int ns = 0;
 
-        for (int y = 0; y < m_params.gridSize; ++y) {
+            for (int y = 0; y < m_params.gridSize; ++y)
-            for (int x = 0; x < m_params.gridSize; ++x) {
+            {
+                for (int x = 0; x < m_params.gridSize; ++x)
+                {
                     float[] vcand = new float[3];
                     vSet(vcand, cvx + x * cs - half, 0f, cvz + y * cs - half);
 
@@ -373,7 +425,8 @@ public class ObstacleAvoidanceQuery {
 
                     float penalty = processSample(vcand, cs, pos, rad, vel, dvel, minPenalty, debug);
                     ns++;
-                if (penalty < minPenalty) {
+                    if (penalty < minPenalty)
+                    {
                         minPenalty = penalty;
                         vCopy(nvel, vcand);
                     }
@@ -384,8 +437,9 @@ public class ObstacleAvoidanceQuery {
         }
 
         // vector normalization that ignores the y-component.
-    void dtNormalize2D(float[] v) {
+        void dtNormalize2D(float[] v)
-        float d = (float) Math.Sqrt(v[0] * v[0] + v[2] * v[2]);
+        {
+            float d = (float)Math.Sqrt(v[0] * v[0] + v[2] * v[2]);
             if (d == 0)
                 return;
             d = 1.0f / d;
@@ -394,10 +448,11 @@ public class ObstacleAvoidanceQuery {
         }
 
         // vector normalization that ignores the y-component.
-    float[] dtRotate2D(float[] v, float ang) {
+        float[] dtRotate2D(float[] v, float ang)
+        {
             float[] dest = new float[3];
-        float c = (float) Math.Cos(ang);
+            float c = (float)Math.Cos(ang);
-        float s = (float) Math.Sin(ang);
+            float s = (float)Math.Sin(ang);
             dest[0] = v[0] * c - v[2] * s;
             dest[2] = v[0] * s + v[2] * c;
             dest[1] = v[1];
@@ -407,7 +462,8 @@ public class ObstacleAvoidanceQuery {
         static readonly float DT_PI = 3.14159265f;
 
         public Tuple<int, float[]> sampleVelocityAdaptive(float[] pos, float rad, float vmax, float[] vel,
-            float[] dvel, ObstacleAvoidanceParams option, ObstacleAvoidanceDebugData debug) {
+            float[] dvel, ObstacleAvoidanceParams option, ObstacleAvoidanceDebugData debug)
+        {
             prepare(pos, dvel);
             m_params = option;
             m_invHorizTime = 1.0f / m_params.horizTime;
@@ -431,8 +487,8 @@ public class ObstacleAvoidanceQuery {
             int nd = clamp(ndivs, 1, DT_MAX_PATTERN_DIVS);
             int nr = clamp(nrings, 1, DT_MAX_PATTERN_RINGS);
             float da = (1.0f / nd) * DT_PI * 2;
-        float ca = (float) Math.Cos(da);
+            float ca = (float)Math.Cos(da);
-        float sa = (float) Math.Sin(da);
+            float sa = (float)Math.Sin(da);
 
             // desired direction
             float[] ddir = new float[6];
@@ -448,15 +504,17 @@ public class ObstacleAvoidanceQuery {
             pat[npat * 2 + 1] = 0;
             npat++;
 
-        for (int j = 0; j < nr; ++j) {
+            for (int j = 0; j < nr; ++j)
-            float r = (float) (nr - j) / (float) nr;
+            {
+                float r = (float)(nr - j) / (float)nr;
                 pat[npat * 2 + 0] = ddir[(j % 2) * 3] * r;
                 pat[npat * 2 + 1] = ddir[(j % 2) * 3 + 2] * r;
                 int last1 = npat * 2;
                 int last2 = last1;
                 npat++;
 
-            for (int i = 1; i < nd - 1; i += 2) {
+                for (int i = 1; i < nd - 1; i += 2)
+                {
                     // get next point on the "right" (rotate CW)
                     pat[npat * 2 + 0] = pat[last1] * ca + pat[last1 + 1] * sa;
                     pat[npat * 2 + 1] = -pat[last1] * sa + pat[last1 + 1] * ca;
@@ -469,7 +527,8 @@ public class ObstacleAvoidanceQuery {
                     npat += 2;
                 }
 
-            if ((nd & 1) == 0) {
+                if ((nd & 1) == 0)
+                {
                     pat[npat * 2 + 2] = pat[last2] * ca - pat[last2 + 1] * sa;
                     pat[npat * 2 + 3] = pat[last2] * sa + pat[last2 + 1] * ca;
                     npat++;
@@ -481,12 +540,14 @@ public class ObstacleAvoidanceQuery {
             float[] res = new float[3];
             vSet(res, dvel[0] * m_params.velBias, 0, dvel[2] * m_params.velBias);
             int ns = 0;
-        for (int k = 0; k < depth; ++k) {
+            for (int k = 0; k < depth; ++k)
+            {
                 float minPenalty = float.MaxValue;
                 float[] bvel = new float[3];
                 vSet(bvel, 0, 0, 0);
 
-            for (int i = 0; i < npat; ++i) {
+                for (int i = 0; i < npat; ++i)
+                {
                     float[] vcand = new float[3];
                     vSet(vcand, res[0] + pat[i * 2 + 0] * cr, 0f, res[2] + pat[i * 2 + 1] * cr);
                     if (sqr(vcand[0]) + sqr(vcand[2]) > sqr(vmax + 0.001f))
@@ -494,7 +555,8 @@ public class ObstacleAvoidanceQuery {
 
                     float penalty = processSample(vcand, cr / 10, pos, rad, vel, dvel, minPenalty, debug);
                     ns++;
-                if (penalty < minPenalty) {
+                    if (penalty < minPenalty)
+                    {
                         minPenalty = penalty;
                         vCopy(bvel, vcand);
                     }
@@ -504,10 +566,10 @@ public class ObstacleAvoidanceQuery {
 
                 cr *= 0.5f;
             }
+
             vCopy(nvel, res);
 
             return Tuple.Create(ns, nvel);
         }
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/PathCorridor.cs

@@ -23,11 +23,9 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
+    using static DetourCommon;
 
-
+    /**
-using static DetourCommon;
-
-/**
  * Represents a dynamic polygon corridor used to plan agent movement.
  *
  * The corridor is loaded with a path, usually obtained from a #NavMeshQuery::findPath() query. The corridor is then
@@ -64,33 +62,40 @@ using static DetourCommon;
  * replanning may be needed. E.g. If you move the target, check #getLastPoly() to see if it is the expected polygon.
  *
  */
-public class PathCorridor {
+    public class PathCorridor
-
+    {
         private readonly float[] m_pos = new float[3];
         private readonly float[] m_target = new float[3];
         private List<long> m_path;
 
-    protected List<long> mergeCorridorStartMoved(List<long> path, List<long> visited) {
+        protected List<long> mergeCorridorStartMoved(List<long> path, List<long> visited)
+        {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-        for (int i = path.Count - 1; i >= 0; --i) {
+            for (int i = path.Count - 1; i >= 0; --i)
+            {
                 bool found = false;
-            for (int j = visited.Count - 1; j >= 0; --j) {
+                for (int j = visited.Count - 1; j >= 0; --j)
-                if (path[i] == visited[j]) {
+                {
+                    if (path[i] == visited[j])
+                    {
                         furthestPath = i;
                         furthestVisited = j;
                         found = true;
                     }
                 }
-            if (found) {
+
+                if (found)
+                {
                     break;
                 }
             }
 
             // If no intersection found just return current path.
-        if (furthestPath == -1 || furthestVisited == -1) {
+            if (furthestPath == -1 || furthestVisited == -1)
+            {
                 return path;
             }
 
@@ -99,34 +104,43 @@ public class PathCorridor {
             // Adjust beginning of the buffer to include the visited.
             List<long> result = new List<long>();
             // Store visited
-        for (int i = visited.Count - 1; i > furthestVisited; --i) {
+            for (int i = visited.Count - 1; i > furthestVisited; --i)
+            {
                 result.Add(visited[i]);
             }
+
             result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
             return result;
         }
 
-    protected List<long> mergeCorridorEndMoved(List<long> path, List<long> visited) {
+        protected List<long> mergeCorridorEndMoved(List<long> path, List<long> visited)
+        {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-        for (int i = 0; i < path.Count; ++i) {
+            for (int i = 0; i < path.Count; ++i)
+            {
                 bool found = false;
-            for (int j = visited.Count - 1; j >= 0; --j) {
+                for (int j = visited.Count - 1; j >= 0; --j)
-                if (path[i] == visited[j]) {
+                {
+                    if (path[i] == visited[j])
+                    {
                         furthestPath = i;
                         furthestVisited = j;
                         found = true;
                     }
                 }
-            if (found) {
+
+                if (found)
+                {
                     break;
                 }
             }
 
             // If no intersection found just return current path.
-        if (furthestPath == -1 || furthestVisited == -1) {
+            if (furthestPath == -1 || furthestVisited == -1)
+            {
                 return path;
             }
 
@@ -136,28 +150,34 @@ public class PathCorridor {
             return result;
         }
 
-    protected List<long> mergeCorridorStartShortcut(List<long> path, List<long> visited) {
+        protected List<long> mergeCorridorStartShortcut(List<long> path, List<long> visited)
-
+        {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-        for (int i = path.Count - 1; i >= 0; --i) {
+            for (int i = path.Count - 1; i >= 0; --i)
+            {
                 bool found = false;
-            for (int j = visited.Count - 1; j >= 0; --j) {
+                for (int j = visited.Count - 1; j >= 0; --j)
-                if (path[i] == visited[j]) {
+                {
+                    if (path[i] == visited[j])
+                    {
                         furthestPath = i;
                         furthestVisited = j;
                         found = true;
                     }
                 }
-            if (found) {
+
+                if (found)
+                {
                     break;
                 }
             }
 
             // If no intersection found just return current path.
-        if (furthestPath == -1 || furthestVisited <= 0) {
+            if (furthestPath == -1 || furthestVisited <= 0)
+            {
                 return path;
             }
 
@@ -172,7 +192,8 @@ public class PathCorridor {
         /**
      * Allocates the corridor's path buffer.
      */
-    public PathCorridor() {
+        public PathCorridor()
+        {
             m_path = new List<long>();
         }
 
@@ -184,7 +205,8 @@ public class PathCorridor {
      * @param pos
      *            The new position in the corridor. [(x, y, z)]
      */
-    public void reset(long refs, float[] pos) {
+        public void reset(long refs, float[] pos)
+        {
             m_path.Clear();
             m_path.Add(refs);
             vCopy(m_pos, pos);
@@ -210,31 +232,41 @@ public class PathCorridor {
      * @param[in] navquery The query object used to build the corridor.
      * @return Corners
      */
-    public List<StraightPathItem> findCorners(int maxCorners, NavMeshQuery navquery, QueryFilter filter) {
+        public List<StraightPathItem> findCorners(int maxCorners, NavMeshQuery navquery, QueryFilter filter)
+        {
             List<StraightPathItem> path = new List<StraightPathItem>();
             Result<List<StraightPathItem>> result = navquery.findStraightPath(m_pos, m_target, m_path, maxCorners, 0);
-        if (result.succeeded()) {
+            if (result.succeeded())
+            {
                 path = result.result;
                 // Prune points in the beginning of the path which are too close.
                 int start = 0;
-            foreach (StraightPathItem spi in path) {
+                foreach (StraightPathItem spi in path)
+                {
                     if ((spi.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                        || vDist2DSqr(spi.getPos(), m_pos) > MIN_TARGET_DIST) {
+                        || vDist2DSqr(spi.getPos(), m_pos) > MIN_TARGET_DIST)
+                    {
                         break;
                     }
+
                     start++;
                 }
+
                 int end = path.Count;
                 // Prune points after an off-mesh connection.
-            for (int i = start; i < path.Count; i++) {
+                for (int i = start; i < path.Count; i++)
+                {
                     StraightPathItem spi = path[i];
-                if ((spi.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) {
+                    if ((spi.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    {
                         end = i + 1;
                         break;
                     }
                 }
+
                 path = path.GetRange(start, end - start);
             }
+
             return path;
         }
 
@@ -265,14 +297,15 @@ public class PathCorridor {
      * @param filter
      *            The filter to apply to the operation.
      */
-
         public void optimizePathVisibility(float[] next, float pathOptimizationRange, NavMeshQuery navquery,
-            QueryFilter filter) {
+            QueryFilter filter)
+        {
             // Clamp the ray to max distance.
             float dist = vDist2D(m_pos, next);
 
             // If too close to the goal, do not try to optimize.
-        if (dist < 0.01f) {
+            if (dist < 0.01f)
+            {
                 return;
             }
 
@@ -285,8 +318,10 @@ public class PathCorridor {
             float[] goal = vMad(m_pos, delta, pathOptimizationRange / dist);
 
             Result<RaycastHit> rc = navquery.raycast(m_path[0], m_pos, goal, filter, 0, 0);
-        if (rc.succeeded()) {
+            if (rc.succeeded())
-            if (rc.result.path.Count > 1 && rc.result.t > 0.99f) {
+            {
+                if (rc.result.path.Count > 1 && rc.result.t > 0.99f)
+                {
                     m_path = mergeCorridorStartShortcut(m_path, rc.result.path);
                 }
             }
@@ -308,8 +343,10 @@ public class PathCorridor {
      *            The filter to apply to the operation.
      *
      */
-    public bool optimizePathTopology(NavMeshQuery navquery, QueryFilter filter, int maxIterations) {
+        public bool optimizePathTopology(NavMeshQuery navquery, QueryFilter filter, int maxIterations)
-        if (m_path.Count < 3) {
+        {
+            if (m_path.Count < 3)
+            {
                 return false;
             }
 
@@ -317,7 +354,8 @@ public class PathCorridor {
             navquery.updateSlicedFindPath(maxIterations);
             Result<List<long>> fpr = navquery.finalizeSlicedFindPathPartial(m_path);
 
-        if (fpr.succeeded() && fpr.result.Count > 0) {
+            if (fpr.succeeded() && fpr.result.Count > 0)
+            {
                 m_path = mergeCorridorStartShortcut(m_path, fpr.result);
                 return true;
             }
@@ -326,16 +364,20 @@ public class PathCorridor {
         }
 
         public bool moveOverOffmeshConnection(long offMeshConRef, long[] refs, float[] start, float[] end,
-            NavMeshQuery navquery) {
+            NavMeshQuery navquery)
+        {
             // Advance the path up to and over the off-mesh connection.
             long prevRef = 0, polyRef = m_path[0];
             int npos = 0;
-        while (npos < m_path.Count && polyRef != offMeshConRef) {
+            while (npos < m_path.Count && polyRef != offMeshConRef)
+            {
                 prevRef = polyRef;
                 polyRef = m_path[npos];
                 npos++;
             }
-        if (npos == m_path.Count) {
+
+            if (npos == m_path.Count)
+            {
                 // Could not find offMeshConRef
                 return false;
             }
@@ -347,12 +389,14 @@ public class PathCorridor {
 
             NavMesh nav = navquery.getAttachedNavMesh();
             Result<Tuple<float[], float[]>> startEnd = nav.getOffMeshConnectionPolyEndPoints(refs[0], refs[1]);
-        if (startEnd.succeeded()) {
+            if (startEnd.succeeded())
+            {
                 vCopy(m_pos, startEnd.result.Item2);
                 vCopy(start, startEnd.result.Item1);
                 vCopy(end, startEnd.result.Item2);
                 return true;
             }
+
             return false;
         }
 
@@ -379,19 +423,24 @@ public class PathCorridor {
      * @param filter
      *            The filter to apply to the operation.
      */
-    public bool movePosition(float[] npos, NavMeshQuery navquery, QueryFilter filter) {
+        public bool movePosition(float[] npos, NavMeshQuery navquery, QueryFilter filter)
+        {
             // Move along navmesh and update new position.
             Result<MoveAlongSurfaceResult> masResult = navquery.moveAlongSurface(m_path[0], m_pos, npos, filter);
-        if (masResult.succeeded()) {
+            if (masResult.succeeded())
+            {
                 m_path = mergeCorridorStartMoved(m_path, masResult.result.getVisited());
                 // Adjust the position to stay on top of the navmesh.
                 vCopy(m_pos, masResult.result.getResultPos());
                 Result<float> hr = navquery.getPolyHeight(m_path[0], masResult.result.getResultPos());
-            if (hr.succeeded()) {
+                if (hr.succeeded())
+                {
                     m_pos[1] = hr.result;
                 }
+
                 return true;
             }
+
             return false;
         }
 
@@ -412,11 +461,13 @@ public class PathCorridor {
      * @param filter
      *            The filter to apply to the operation.
      */
-    public bool moveTargetPosition(float[] npos, NavMeshQuery navquery, QueryFilter filter) {
+        public bool moveTargetPosition(float[] npos, NavMeshQuery navquery, QueryFilter filter)
+        {
             // Move along navmesh and update new position.
             Result<MoveAlongSurfaceResult> masResult = navquery.moveAlongSurface(m_path[m_path.Count - 1], m_target,
                 npos, filter);
-        if (masResult.succeeded()) {
+            if (masResult.succeeded())
+            {
                 m_path = mergeCorridorEndMoved(m_path, masResult.result.getVisited());
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
@@ -427,6 +478,7 @@ public class PathCorridor {
                 vCopy(m_target, masResult.result.getResultPos());
                 return true;
             }
+
             return false;
         }
 
@@ -440,47 +492,57 @@ public class PathCorridor {
      * @param path
      *            The path corridor.
      */
-
+        public void setCorridor(float[] target, List<long> path)
-    public void setCorridor(float[] target, List<long> path) {
+        {
             vCopy(m_target, target);
             m_path = new List<long>(path);
         }
 
-    public void fixPathStart(long safeRef, float[] safePos) {
+        public void fixPathStart(long safeRef, float[] safePos)
+        {
             vCopy(m_pos, safePos);
-        if (m_path.Count < 3 && m_path.Count > 0) {
+            if (m_path.Count < 3 && m_path.Count > 0)
+            {
                 long p = m_path[m_path.Count - 1];
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
                 m_path.Add(p);
-        } else {
+            }
+            else
+            {
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
             }
-
         }
 
-    public void trimInvalidPath(long safeRef, float[] safePos, NavMeshQuery navquery, QueryFilter filter) {
+        public void trimInvalidPath(long safeRef, float[] safePos, NavMeshQuery navquery, QueryFilter filter)
+        {
             // Keep valid path as far as possible.
             int n = 0;
-        while (n < m_path.Count && navquery.isValidPolyRef(m_path[n], filter)) {
+            while (n < m_path.Count && navquery.isValidPolyRef(m_path[n], filter))
+            {
                 n++;
             }
 
-        if (n == 0) {
+            if (n == 0)
+            {
                 // The first polyref is bad, use current safe values.
                 vCopy(m_pos, safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
-        } else if (n < m_path.Count) {
+            }
+            else if (n < m_path.Count)
+            {
                 m_path = m_path.GetRange(0, n);
                 // The path is partially usable.
             }
+
             // Clamp target pos to last poly
             Result<float[]> result = navquery.closestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target);
-        if (result.succeeded()) {
+            if (result.succeeded())
+            {
                 vCopy(m_target, result.result);
             }
         }
@@ -498,11 +560,14 @@ public class PathCorridor {
      *            The filter to apply to the operation.
      * @return
      */
-    public bool isValid(int maxLookAhead, NavMeshQuery navquery, QueryFilter filter) {
+        public bool isValid(int maxLookAhead, NavMeshQuery navquery, QueryFilter filter)
+        {
             // Check that all polygons still pass query filter.
             int n = Math.Min(m_path.Count, maxLookAhead);
-        for (int i = 0; i < n; ++i) {
+            for (int i = 0; i < n; ++i)
-            if (!navquery.isValidPolyRef(m_path[i], filter)) {
+            {
+                if (!navquery.isValidPolyRef(m_path[i], filter))
+                {
                     return false;
                 }
             }
@@ -515,7 +580,8 @@ public class PathCorridor {
      *
      * @return The current position within the corridor.
      */
-    public float[] getPos() {
+        public float[] getPos()
+        {
             return m_pos;
         }
 
@@ -524,7 +590,8 @@ public class PathCorridor {
      *
      * @return The current target within the corridor.
      */
-    public float[] getTarget() {
+        public float[] getTarget()
+        {
             return m_target;
         }
 
@@ -533,7 +600,8 @@ public class PathCorridor {
      *
      * @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
      */
-    public long getFirstPoly() {
+        public long getFirstPoly()
+        {
             return 0 == m_path.Count ? 0 : m_path[0];
         }
 
@@ -542,14 +610,16 @@ public class PathCorridor {
      *
      * @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
      */
-    public long getLastPoly() {
+        public long getLastPoly()
+        {
             return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
         }
 
         /**
      * The corridor's path.
      */
-    public List<long> getPath() {
+        public List<long> getPath()
+        {
             return m_path;
         }
 
@@ -558,9 +628,9 @@ public class PathCorridor {
      *
      * @return The number of polygons in the current corridor path.
      */
-    public int getPathCount() {
+        public int getPathCount()
+        {
             return m_path.Count;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/PathQuery.cs

@@ -17,20 +17,22 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Crowd
 {
-
+    public class PathQuery
-
+    {
-public class PathQuery {
         /// Path find start and end location.
         public float[] startPos = new float[3];
+
         public float[] endPos = new float[3];
         public long startRef;
         public long endRef;
-    public QueryFilter filter; /// < TODO: This is potentially dangerous!
+        public QueryFilter filter;
+
+        /// < TODO: This is potentially dangerous!
         public readonly PathQueryResult result = new PathQueryResult();
+
         public NavMeshQuery navQuery;
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/PathQueryResult.cs

@@ -20,11 +20,9 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
-
+    public class PathQueryResult
-
+    {
-public class PathQueryResult {
         public Status status;
         public List<long> path = new List<long>();
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/PathQueue.cs

@@ -22,55 +22,67 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
+    using static DetourCommon;
 
-
+    public class PathQueue
-using static DetourCommon;
+    {
-
-public class PathQueue {
-
         private readonly CrowdConfig config;
         private readonly LinkedList<PathQuery> queue = new LinkedList<PathQuery>();
 
-    public PathQueue(CrowdConfig config) {
+        public PathQueue(CrowdConfig config)
+        {
             this.config = config;
         }
 
-    public void update(NavMesh navMesh) {
+        public void update(NavMesh navMesh)
+        {
             // Update path request until there is nothing to update or up to maxIters pathfinder iterations has been
             // consumed.
             int iterCount = config.maxFindPathIterations;
-        while (iterCount > 0) {
+            while (iterCount > 0)
+            {
                 PathQuery? q = queue.First?.Value;
-            if (q == null) {
+                if (q == null)
+                {
                     break;
                 }
+
                 // Handle query start.
-            if (q.result.status == null) {
+                if (q.result.status == null)
+                {
                     q.navQuery = new NavMeshQuery(navMesh);
                     q.result.status = q.navQuery.initSlicedFindPath(q.startRef, q.endRef, q.startPos, q.endPos, q.filter, 0);
                 }
+
                 // Handle query in progress.
-            if (q.result.status.isInProgress()) {
+                if (q.result.status.isInProgress())
+                {
                     Result<int> res = q.navQuery.updateSlicedFindPath(iterCount);
                     q.result.status = res.status;
                     iterCount -= res.result;
                 }
-            if (q.result.status.isSuccess()) {
+
+                if (q.result.status.isSuccess())
+                {
                     Result<List<long>> path = q.navQuery.finalizeSlicedFindPath();
                     q.result.status = path.status;
                     q.result.path = path.result;
                 }
-            if (!(q.result.status.isFailed() || q.result.status.isSuccess())) {
+
+                if (!(q.result.status.isFailed() || q.result.status.isSuccess()))
+                {
                     queue.AddFirst(q);
                 }
             }
-
         }
 
-    public PathQueryResult request(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter) {
+        public PathQueryResult request(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter)
-        if (queue.Count >= config.pathQueueSize) {
+        {
+            if (queue.Count >= config.pathQueueSize)
+            {
                 return null;
             }
+
             PathQuery q = new PathQuery();
             vCopy(q.startPos, startPos);
             q.startRef = startRef;
@@ -81,7 +93,5 @@ public class PathQueue {
             queue.AddLast(q);
             return q.result;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/ProximityGrid.cs

@@ -24,53 +24,62 @@ using System.Linq;
 
 namespace DotRecast.Detour.Crowd
 {
-
+    public class ProximityGrid
-
+    {
-public class ProximityGrid {
-
         private readonly float m_cellSize;
         private readonly float m_invCellSize;
         private readonly Dictionary<ItemKey, List<CrowdAgent>> items;
 
-    public ProximityGrid(float m_cellSize) {
+        public ProximityGrid(float m_cellSize)
+        {
             this.m_cellSize = m_cellSize;
             m_invCellSize = 1.0f / m_cellSize;
             items = new Dictionary<ItemKey, List<CrowdAgent>>();
         }
 
-    void clear() {
+        void clear()
+        {
             items.Clear();
         }
 
-    public void addItem(CrowdAgent agent, float minx, float miny, float maxx, float maxy) {
+        public void addItem(CrowdAgent agent, float minx, float miny, float maxx, float maxy)
-        int iminx = (int) Math.Floor(minx * m_invCellSize);
+        {
-        int iminy = (int) Math.Floor(miny * m_invCellSize);
+            int iminx = (int)Math.Floor(minx * m_invCellSize);
-        int imaxx = (int) Math.Floor(maxx * m_invCellSize);
+            int iminy = (int)Math.Floor(miny * m_invCellSize);
-        int imaxy = (int) Math.Floor(maxy * m_invCellSize);
+            int imaxx = (int)Math.Floor(maxx * m_invCellSize);
+            int imaxy = (int)Math.Floor(maxy * m_invCellSize);
 
-        for (int y = iminy; y <= imaxy; ++y) {
+            for (int y = iminy; y <= imaxy; ++y)
-            for (int x = iminx; x <= imaxx; ++x) {
+            {
+                for (int x = iminx; x <= imaxx; ++x)
+                {
                     ItemKey key = new ItemKey(x, y);
-                if (!items.TryGetValue(key, out var ids)) {
+                    if (!items.TryGetValue(key, out var ids))
+                    {
                         ids = new List<CrowdAgent>();
                         items.Add(key, ids);
                     }
+
                     ids.Add(agent);
                 }
             }
         }
 
-    public HashSet<CrowdAgent> queryItems(float minx, float miny, float maxx, float maxy) {
+        public HashSet<CrowdAgent> queryItems(float minx, float miny, float maxx, float maxy)
-        int iminx = (int) Math.Floor(minx * m_invCellSize);
+        {
-        int iminy = (int) Math.Floor(miny * m_invCellSize);
+            int iminx = (int)Math.Floor(minx * m_invCellSize);
-        int imaxx = (int) Math.Floor(maxx * m_invCellSize);
+            int iminy = (int)Math.Floor(miny * m_invCellSize);
-        int imaxy = (int) Math.Floor(maxy * m_invCellSize);
+            int imaxx = (int)Math.Floor(maxx * m_invCellSize);
+            int imaxy = (int)Math.Floor(maxy * m_invCellSize);
 
             HashSet<CrowdAgent> result = new HashSet<CrowdAgent>();
-        for (int y = iminy; y <= imaxy; ++y) {
+            for (int y = iminy; y <= imaxy; ++y)
-            for (int x = iminx; x <= imaxx; ++x) {
+            {
+                for (int x = iminx; x <= imaxx; ++x)
+                {
                     ItemKey key = new ItemKey(x, y);
-                if (items.TryGetValue(key, out var ids)) {
+                    if (items.TryGetValue(key, out var ids))
+                    {
                         result.UnionWith(ids);
                     }
                 }
@@ -79,28 +88,32 @@ public class ProximityGrid {
             return result;
         }
 
-    public List<int[]> getItemCounts() {
+        public List<int[]> getItemCounts()
+        {
             return items
                 .Where(e => e.Value.Count > 0)
                 .Select(e => new int[] { e.Key.x, e.Key.y, e.Value.Count })
                 .ToList();
         }
 
-    public float getCellSize() {
+        public float getCellSize()
+        {
             return m_cellSize;
         }
 
-    private class ItemKey {
+        private class ItemKey
-
+        {
             public readonly int x;
             public readonly int y;
 
-        public ItemKey(int x, int y) {
+            public ItemKey(int x, int y)
+            {
                 this.x = x;
                 this.y = y;
             }
 
-        public override int GetHashCode() {
+            public override int GetHashCode()
+            {
                 int prime = 31;
                 int result = 1;
                 result = prime * result + x;
@@ -108,7 +121,8 @@ public class ProximityGrid {
                 return result;
             }
 
-        public override bool Equals(object? obj) {
+            public override bool Equals(object? obj)
+            {
                 if (this == obj)
                     return true;
 
@@ -118,7 +132,7 @@ public class ProximityGrid {
                 if (GetType() != obj.GetType())
                     return false;
 
-            ItemKey other = (ItemKey) obj;
+                ItemKey other = (ItemKey)obj;
                 if (x != other.x)
                     return false;
 
@@ -127,8 +141,6 @@ public class ProximityGrid {
 
                 return true;
             }
-
         };
-}
+    }
-
 }

src/DotRecast.Detour.Crowd/SweepCircleCircleResult.cs

@@ -17,22 +17,20 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Crowd
 {
-
+    public class SweepCircleCircleResult
-
+    {
-public class SweepCircleCircleResult {
-
         public readonly bool intersection;
         public readonly float htmin;
         public readonly float htmax;
 
-    public SweepCircleCircleResult(bool intersection, float htmin, float htmax) {
+        public SweepCircleCircleResult(bool intersection, float htmin, float htmax)
+        {
             this.intersection = intersection;
             this.htmin = htmin;
             this.htmax = htmax;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/Tracking/CrowdAgentDebugInfo.cs

@@ -17,17 +17,14 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Crowd.Tracking
 {
-
+    public class CrowdAgentDebugInfo
-
+    {
-public class CrowdAgentDebugInfo {
-
         public CrowdAgent agent;
         public float[] optStart = new float[3];
         public float[] optEnd = new float[3];
         public ObstacleAvoidanceDebugData vod;
-
+    }
-}
-
 }

src/DotRecast.Detour.Crowd/Tracking/ObstacleAvoidanceDebugData.cs

@@ -22,11 +22,10 @@ using System;
 
 namespace DotRecast.Detour.Crowd.Tracking
 {
+    using static DetourCommon;
 
-
+    public class ObstacleAvoidanceDebugData
-using static DetourCommon;
+    {
-
-public class ObstacleAvoidanceDebugData {
         int m_nsamples;
         int m_maxSamples;
         float[] m_vel;
@@ -37,7 +36,8 @@ public class ObstacleAvoidanceDebugData {
         float[] m_spen;
         float[] m_tpen;
 
-    public ObstacleAvoidanceDebugData(int maxSamples) {
+        public ObstacleAvoidanceDebugData(int maxSamples)
+        {
             m_maxSamples = maxSamples;
             m_vel = new float[3 * m_maxSamples];
             m_pen = new float[m_maxSamples];
@@ -48,25 +48,30 @@ public class ObstacleAvoidanceDebugData {
             m_tpen = new float[m_maxSamples];
         }
 
-    public void reset() {
+        public void reset()
+        {
             m_nsamples = 0;
         }
 
-    void normalizeArray(float[] arr, int n) {
+        void normalizeArray(float[] arr, int n)
+        {
             // Normalize penaly range.
             float minPen = float.MaxValue;
             float maxPen = -float.MaxValue;
-        for (int i = 0; i < n; ++i) {
+            for (int i = 0; i < n; ++i)
+            {
                 minPen = Math.Min(minPen, arr[i]);
                 maxPen = Math.Max(maxPen, arr[i]);
             }
+
             float penRange = maxPen - minPen;
             float s = penRange > 0.001f ? (1.0f / penRange) : 1;
             for (int i = 0; i < n; ++i)
                 arr[i] = clamp((arr[i] - minPen) * s, 0.0f, 1.0f);
         }
 
-    public void normalizeSamples() {
+        public void normalizeSamples()
+        {
             normalizeArray(m_pen, m_nsamples);
             normalizeArray(m_vpen, m_nsamples);
             normalizeArray(m_vcpen, m_nsamples);
@@ -74,7 +79,8 @@ public class ObstacleAvoidanceDebugData {
             normalizeArray(m_tpen, m_nsamples);
         }
 
-    public void addSample(float[] vel, float ssize, float pen, float vpen, float vcpen, float spen, float tpen) {
+        public void addSample(float[] vel, float ssize, float pen, float vpen, float vcpen, float spen, float tpen)
+        {
             if (m_nsamples >= m_maxSamples)
                 return;
             m_vel[m_nsamples * 3] = vel[0];
@@ -89,11 +95,13 @@ public class ObstacleAvoidanceDebugData {
             m_nsamples++;
         }
 
-    public int getSampleCount() {
+        public int getSampleCount()
+        {
             return m_nsamples;
         }
 
-    public float[] getSampleVelocity(int i) {
+        public float[] getSampleVelocity(int i)
+        {
             float[] vel = new float[3];
             vel[0] = m_vel[i * 3];
             vel[1] = m_vel[i * 3 + 1];
@@ -101,28 +109,34 @@ public class ObstacleAvoidanceDebugData {
             return vel;
         }
 
-    public float getSampleSize(int i) {
+        public float getSampleSize(int i)
+        {
             return m_ssize[i];
         }
 
-    public float getSamplePenalty(int i) {
+        public float getSamplePenalty(int i)
+        {
             return m_pen[i];
         }
 
-    public float getSampleDesiredVelocityPenalty(int i) {
+        public float getSampleDesiredVelocityPenalty(int i)
+        {
             return m_vpen[i];
         }
 
-    public float getSampleCurrentVelocityPenalty(int i) {
+        public float getSampleCurrentVelocityPenalty(int i)
+        {
             return m_vcpen[i];
         }
 
-    public float getSamplePreferredSidePenalty(int i) {
+        public float getSamplePreferredSidePenalty(int i)
+        {
             return m_spen[i];
         }
 
-    public float getSampleCollisionTimePenalty(int i) {
+        public float getSampleCollisionTimePenalty(int i)
+        {
             return m_tpen[i];
         }
-}
+    }
 }

src/DotRecast.Detour.Dynamic/AddColliderQueueItem.cs

@@ -21,28 +21,27 @@ using DotRecast.Detour.Dynamic.Colliders;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class AddColliderQueueItem : UpdateQueueItem
-
+    {
-public class AddColliderQueueItem : UpdateQueueItem {
-
         private readonly long colliderId;
         private readonly Collider collider;
         private readonly ICollection<DynamicTile> _affectedTiles;
 
-    public AddColliderQueueItem(long colliderId, Collider collider, ICollection<DynamicTile> affectedTiles) {
+        public AddColliderQueueItem(long colliderId, Collider collider, ICollection<DynamicTile> affectedTiles)
+        {
             this.colliderId = colliderId;
             this.collider = collider;
             _affectedTiles = affectedTiles;
         }
 
-    public ICollection<DynamicTile> affectedTiles() {
+        public ICollection<DynamicTile> affectedTiles()
+        {
             return _affectedTiles;
         }
 
-    public void process(DynamicTile tile) {
+        public void process(DynamicTile tile)
+        {
             tile.addCollider(colliderId, collider);
         }
-
+    }
-}
-
 }

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

@@ -20,21 +20,21 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public abstract class AbstractCollider : Collider
-
+    {
-public abstract class AbstractCollider : Collider {
-
         protected readonly int area;
         protected readonly float flagMergeThreshold;
         protected readonly float[] _bounds;
 
-    public AbstractCollider(int area, float flagMergeThreshold, float[] bounds) {
+        public AbstractCollider(int area, float flagMergeThreshold, float[] bounds)
+        {
             this.area = area;
             this.flagMergeThreshold = flagMergeThreshold;
             this._bounds = bounds;
         }
 
-    public float[] bounds() {
+        public float[] bounds()
+        {
             return _bounds;
         }
 
@@ -42,7 +42,5 @@ public abstract class AbstractCollider : Collider {
         {
             ///?
         }
-
+    }
-}
-
 }

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

@@ -21,12 +21,11 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class BoxCollider : AbstractCollider
-
+    {
-public class BoxCollider : AbstractCollider {
-
         private readonly float[] center;
         private readonly float[][] halfEdges;
+
         public BoxCollider(float[] center, float[][] halfEdges, int area, float flagMergeThreshold) :
             base(area, flagMergeThreshold, bounds(center, halfEdges))
         {
@@ -34,10 +33,15 @@ public class BoxCollider : AbstractCollider {
             this.halfEdges = halfEdges;
         }
 
-    private static float[] bounds(float[] center, float[][] halfEdges) {
+        private static float[] bounds(float[] center, float[][] halfEdges)
-        float[] bounds = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+        {
-                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
+            float[] bounds = new float[]
-        for (int i = 0; i < 8; ++i) {
+            {
+                float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
+            };
+            for (int i = 0; i < 8; ++i)
+            {
                 float s0 = (i & 1) != 0 ? 1f : -1f;
                 float s1 = (i & 2) != 0 ? 1f : -1f;
                 float s2 = (i & 4) != 0 ? 1f : -1f;
@@ -51,15 +55,18 @@ public class BoxCollider : AbstractCollider {
                 bounds[4] = Math.Max(bounds[4], vy);
                 bounds[5] = Math.Max(bounds[5], vz);
             }
+
             return bounds;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
-        RecastFilledVolumeRasterization.rasterizeBox(hf, center, halfEdges, area, (int) Math.Floor(flagMergeThreshold / hf.ch),
+        {
+            RecastFilledVolumeRasterization.rasterizeBox(hf, center, halfEdges, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);
         }
 
-    public static float[][] getHalfEdges(float[] up, float[] forward, float[] extent) {
+        public static float[][] getHalfEdges(float[] up, float[] forward, float[] extent)
+        {
             float[][] halfEdges = new float[][] { new float[3], new float[] { up[0], up[1], up[2] }, new float[3] };
             RecastVectors.normalize(halfEdges[1]);
             RecastVectors.cross(halfEdges[0], up, forward);
@@ -77,7 +84,5 @@ public class BoxCollider : AbstractCollider {
             halfEdges[2][2] *= extent[2];
             return halfEdges;
         }
-
+    }
-}
-
 }

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

@@ -21,10 +21,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class CapsuleCollider : AbstractCollider
-
+    {
-public class CapsuleCollider : AbstractCollider {
-
         private readonly float[] start;
         private readonly float[] end;
         private readonly float radius;
@@ -37,17 +35,20 @@ public class CapsuleCollider : AbstractCollider {
             this.radius = radius;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
-        RecastFilledVolumeRasterization.rasterizeCapsule(hf, start, end, radius, area, (int) Math.Floor(flagMergeThreshold / hf.ch),
+        {
+            RecastFilledVolumeRasterization.rasterizeCapsule(hf, start, end, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);
         }
 
-    private static float[] bounds(float[] start, float[] end, float radius) {
+        private static float[] bounds(float[] start, float[] end, float radius)
-        return new float[] { Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius,
+        {
+            return new float[]
+            {
+                Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius,
                 Math.Min(start[2], end[2]) - radius, Math.Max(start[0], end[0]) + radius, Math.Max(start[1], end[1]) + radius,
-                Math.Max(start[2], end[2]) + radius };
+                Math.Max(start[2], end[2]) + radius
+            };
+        }
     }
-
-}
-
 }

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

@@ -20,12 +20,9 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public interface Collider
-
+    {
-public interface Collider {
-
         float[] bounds();
         void rasterize(Heightfield hf, Telemetry telemetry);
-}
+    }
-
 }

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

@@ -23,31 +23,37 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class CompositeCollider : Collider
-
+    {
-public class CompositeCollider : Collider {
-
         private readonly List<Collider> colliders;
         private readonly float[] _bounds;
 
-    public CompositeCollider(List<Collider> colliders) {
+        public CompositeCollider(List<Collider> colliders)
+        {
             this.colliders = colliders;
             _bounds = bounds(colliders);
         }
 
-    public CompositeCollider(params Collider[] colliders) {
+        public CompositeCollider(params Collider[] colliders)
+        {
             this.colliders = colliders.ToList();
             _bounds = bounds(this.colliders);
         }
 
-    public float[] bounds() {
+        public float[] bounds()
+        {
             return _bounds;
         }
 
-    private static float[] bounds(List<Collider> colliders) {
+        private static float[] bounds(List<Collider> colliders)
-        float[] bounds = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+        {
-                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
+            float[] bounds = new float[]
-        foreach (Collider collider in colliders) {
+            {
+                float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
+            };
+            foreach (Collider collider in colliders)
+            {
                 float[] b = collider.bounds();
                 bounds[0] = Math.Min(bounds[0], b[0]);
                 bounds[1] = Math.Min(bounds[1], b[1]);
@@ -56,14 +62,14 @@ public class CompositeCollider : Collider {
                 bounds[4] = Math.Max(bounds[4], b[4]);
                 bounds[5] = Math.Max(bounds[5], b[5]);
             }
+
             return bounds;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
+        {
             foreach (var c in colliders)
                 c.rasterize(hf, telemetry);
         }
-
+    }
-}
-
 }

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

@@ -21,30 +21,29 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class ConvexTrimeshCollider : AbstractCollider
-
+    {
-public class ConvexTrimeshCollider : AbstractCollider {
-
         private readonly float[] vertices;
         private readonly int[] triangles;
 
         public ConvexTrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, TrimeshCollider.computeBounds(vertices)) {
+            base(area, flagMergeThreshold, TrimeshCollider.computeBounds(vertices))
+        {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
         public ConvexTrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, bounds) {
+            base(area, flagMergeThreshold, bounds)
+        {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
+        {
             RecastFilledVolumeRasterization.rasterizeConvex(hf, vertices, triangles, area,
-                (int) Math.Floor(flagMergeThreshold / hf.ch), telemetry);
+                (int)Math.Floor(flagMergeThreshold / hf.ch), telemetry);
+        }
     }
-
-}
-
 }

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

@@ -21,32 +21,34 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class CylinderCollider : AbstractCollider
-
+    {
-public class CylinderCollider : AbstractCollider {
-
         private readonly float[] start;
         private readonly float[] end;
         private readonly float radius;
 
         public CylinderCollider(float[] start, float[] end, float radius, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, bounds(start, end, radius)) {
+            base(area, flagMergeThreshold, bounds(start, end, radius))
+        {
             this.start = start;
             this.end = end;
             this.radius = radius;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
-        RecastFilledVolumeRasterization.rasterizeCylinder(hf, start, end, radius, area, (int) Math.Floor(flagMergeThreshold / hf.ch),
+        {
+            RecastFilledVolumeRasterization.rasterizeCylinder(hf, start, end, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);
         }
 
-    private static float[] bounds(float[] start, float[] end, float radius) {
+        private static float[] bounds(float[] start, float[] end, float radius)
-        return new float[] { Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius,
+        {
+            return new float[]
+            {
+                Math.Min(start[0], end[0]) - radius, Math.Min(start[1], end[1]) - radius,
                 Math.Min(start[2], end[2]) - radius, Math.Max(start[0], end[0]) + radius, Math.Max(start[1], end[1]) + radius,
-                Math.Max(start[2], end[2]) + radius };
+                Math.Max(start[2], end[2]) + radius
+            };
+        }
     }
-
-}
-
 }

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

@@ -21,29 +21,31 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class SphereCollider : AbstractCollider
-
+    {
-public class SphereCollider : AbstractCollider {
-
         private readonly float[] center;
         private readonly float radius;
 
         public SphereCollider(float[] center, float radius, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, bounds(center, radius)) {
+            base(area, flagMergeThreshold, bounds(center, radius))
+        {
             this.center = center;
             this.radius = radius;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
-        RecastFilledVolumeRasterization.rasterizeSphere(hf, center, radius, area, (int) Math.Floor(flagMergeThreshold / hf.ch),
+        {
+            RecastFilledVolumeRasterization.rasterizeSphere(hf, center, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);
         }
 
-    private static float[] bounds(float[] center, float radius) {
+        private static float[] bounds(float[] center, float radius)
-        return new float[] { center[0] - radius, center[1] - radius, center[2] - radius, center[0] + radius, center[1] + radius,
+        {
-                center[2] + radius };
+            return new float[]
+            {
+                center[0] - radius, center[1] - radius, center[2] - radius, center[0] + radius, center[1] + radius,
+                center[2] + radius
+            };
+        }
     }
-
-}
-
 }

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

@@ -21,28 +21,30 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-
+    public class TrimeshCollider : AbstractCollider
-
+    {
-public class TrimeshCollider : AbstractCollider {
-
         private readonly float[] vertices;
         private readonly int[] triangles;
 
         public TrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, computeBounds(vertices)) {
+            base(area, flagMergeThreshold, computeBounds(vertices))
+        {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
         public TrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold) :
-        base(area, flagMergeThreshold, bounds) {
+            base(area, flagMergeThreshold, bounds)
+        {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
-    public static float[] computeBounds(float[] vertices) {
+        public static float[] computeBounds(float[] vertices)
+        {
             float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };
-        for (int i = 3; i < vertices.Length; i += 3) {
+            for (int i = 3; i < vertices.Length; i += 3)
+            {
                 bounds[0] = Math.Min(bounds[0], vertices[i]);
                 bounds[1] = Math.Min(bounds[1], vertices[i + 1]);
                 bounds[2] = Math.Min(bounds[2], vertices[i + 2]);
@@ -50,16 +52,17 @@ public class TrimeshCollider : AbstractCollider {
                 bounds[4] = Math.Max(bounds[4], vertices[i + 1]);
                 bounds[5] = Math.Max(bounds[5], vertices[i + 2]);
             }
+
             return bounds;
         }
 
-    public void rasterize(Heightfield hf, Telemetry telemetry) {
+        public void rasterize(Heightfield hf, Telemetry telemetry)
-        for (int i = 0; i < triangles.Length; i += 3) {
+        {
+            for (int i = 0; i < triangles.Length; i += 3)
+            {
                 RecastRasterization.rasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
-                    (int) Math.Floor(flagMergeThreshold / hf.ch), telemetry);
+                    (int)Math.Floor(flagMergeThreshold / hf.ch), telemetry);
+            }
         }
     }
-
-}
-
 }

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

@@ -6,12 +6,12 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.5" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.5"/>
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour.Dynamic/DynamicNavMesh.cs

@@ -29,10 +29,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class DynamicNavMesh
-
+    {
-public class DynamicNavMesh {
-
         public const int MAX_VERTS_PER_POLY = 6;
         public readonly DynamicNavMeshConfig config;
         private readonly RecastBuilder builder;
@@ -44,7 +42,8 @@ public class DynamicNavMesh {
         private NavMesh _navMesh;
         private bool dirty = true;
 
-    public DynamicNavMesh(VoxelFile voxelFile) {
+        public DynamicNavMesh(VoxelFile voxelFile)
+        {
             config = new DynamicNavMeshConfig(voxelFile.useTiles, voxelFile.tileSizeX, voxelFile.tileSizeZ, voxelFile.cellSize);
             config.walkableHeight = voxelFile.walkableHeight;
             config.walkableRadius = voxelFile.walkableRadius;
@@ -67,41 +66,50 @@ public class DynamicNavMesh {
             navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
-        foreach (var t in voxelFile.tiles) {
+            foreach (var t in voxelFile.tiles)
+            {
                 _tiles.Add(lookupKey(t.tileX, t.tileZ), new DynamicTile(t));
-        };
+            }
+
+            ;
             telemetry = new Telemetry();
         }
 
-    public NavMesh navMesh() {
+        public NavMesh navMesh()
+        {
             return _navMesh;
         }
 
         /**
      * Voxel queries require checkpoints to be enabled in {@link DynamicNavMeshConfig}
      */
-    public VoxelQuery voxelQuery() {
+        public VoxelQuery voxelQuery()
+        {
             return new VoxelQuery(navMeshParams.orig, navMeshParams.tileWidth, navMeshParams.tileHeight, lookupHeightfield);
         }
 
-    private Heightfield lookupHeightfield(int x, int z) {
+        private Heightfield lookupHeightfield(int x, int z)
+        {
             return getTileAt(x, z)?.checkpoint.heightfield;
         }
 
-    public long addCollider(Collider collider) {
+        public long addCollider(Collider collider)
+        {
             long cid = currentColliderId.IncrementAndGet();
             updateQueue.Add(new AddColliderQueueItem(cid, collider, getTiles(collider.bounds())));
             return cid;
         }
 
-    public void removeCollider(long colliderId) {
+        public void removeCollider(long colliderId)
+        {
             updateQueue.Add(new RemoveColliderQueueItem(colliderId, getTilesByCollider(colliderId)));
         }
 
         /**
      * Perform full build of the nav mesh
      */
-    public void build() {
+        public void build()
+        {
             processQueue();
             rebuild(_tiles.Values);
         }
@@ -109,34 +117,42 @@ public class DynamicNavMesh {
         /**
      * Perform incremental update of the nav mesh
      */
-    public bool update() {
+        public bool update()
+        {
             return rebuild(processQueue());
         }
 
-    private bool rebuild(ICollection<DynamicTile> stream) {
+        private bool rebuild(ICollection<DynamicTile> stream)
+        {
             foreach (var dynamicTile in stream)
                 rebuild(dynamicTile);
             return updateNavMesh();
         }
 
-    private HashSet<DynamicTile> processQueue() {
+        private HashSet<DynamicTile> processQueue()
+        {
             var items = consumeQueue();
-        foreach (var item in items) {
+            foreach (var item in items)
+            {
                 process(item);
             }
 
             return items.SelectMany(i => i.affectedTiles()).ToHashSet();
         }
 
-    private List<UpdateQueueItem> consumeQueue() {
+        private List<UpdateQueueItem> consumeQueue()
+        {
             List<UpdateQueueItem> items = new List<UpdateQueueItem>();
-        while (updateQueue.TryTake(out var item)) {
+            while (updateQueue.TryTake(out var item))
+            {
                 items.Add(item);
             }
+
             return items;
         }
 
-    private void process(UpdateQueueItem item) {
+        private void process(UpdateQueueItem item)
+        {
             foreach (var tile in item.affectedTiles())
             {
                 item.process(tile);
@@ -146,7 +162,8 @@ public class DynamicNavMesh {
         /**
      * Perform full build concurrently using the given {@link ExecutorService}
      */
-    public Task<bool> build(TaskFactory executor) {
+        public Task<bool> build(TaskFactory executor)
+        {
             processQueue();
             return rebuild(_tiles.Values, executor);
         }
@@ -154,7 +171,8 @@ public class DynamicNavMesh {
         /**
      * Perform incremental update concurrently using the given {@link ExecutorService}
      */
-    public Task<bool> update(TaskFactory executor) {
+        public Task<bool> update(TaskFactory executor)
+        {
             return rebuild(processQueue(), executor);
         }
 
@@ -164,38 +182,49 @@ public class DynamicNavMesh {
             return Task.WhenAll(tasks).ContinueWith(k => updateNavMesh());
         }
 
-    private ICollection<DynamicTile> getTiles(float[] bounds) {
+        private ICollection<DynamicTile> getTiles(float[] bounds)
-        if (bounds == null) {
+        {
+            if (bounds == null)
+            {
                 return _tiles.Values;
             }
-        int minx = (int) Math.Floor((bounds[0] - navMeshParams.orig[0]) / navMeshParams.tileWidth);
+
-        int minz = (int) Math.Floor((bounds[2] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
+            int minx = (int)Math.Floor((bounds[0] - navMeshParams.orig[0]) / navMeshParams.tileWidth);
-        int maxx = (int) Math.Floor((bounds[3] - navMeshParams.orig[0]) / navMeshParams.tileWidth);
+            int minz = (int)Math.Floor((bounds[2] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
-        int maxz = (int) Math.Floor((bounds[5] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
+            int maxx = (int)Math.Floor((bounds[3] - navMeshParams.orig[0]) / navMeshParams.tileWidth);
+            int maxz = (int)Math.Floor((bounds[5] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
             List<DynamicTile> tiles = new List<DynamicTile>();
-        for (int z = minz; z <= maxz; ++z) {
+            for (int z = minz; z <= maxz; ++z)
-            for (int x = minx; x <= maxx; ++x) {
+            {
+                for (int x = minx; x <= maxx; ++x)
+                {
                     DynamicTile tile = getTileAt(x, z);
-                if (tile != null) {
+                    if (tile != null)
+                    {
                         tiles.Add(tile);
                     }
                 }
             }
+
             return tiles;
         }
 
-    private List<DynamicTile> getTilesByCollider(long cid)  {
+        private List<DynamicTile> getTilesByCollider(long cid)
+        {
             return _tiles.Values.Where(t => t.containsCollider(cid)).ToList();
         }
 
-    private void rebuild(DynamicTile tile) {
+        private void rebuild(DynamicTile tile)
+        {
             NavMeshDataCreateParams option = new NavMeshDataCreateParams();
             option.walkableHeight = config.walkableHeight;
             dirty = dirty | tile.build(builder, config, telemetry);
         }
 
-    private bool updateNavMesh() {
+        private bool updateNavMesh()
-        if (dirty) {
+        {
+            if (dirty)
+            {
                 NavMesh navMesh = new NavMesh(navMeshParams, MAX_VERTS_PER_POLY);
                 foreach (var t in _tiles.Values)
                     t.addTo(navMesh);
@@ -204,27 +233,30 @@ public class DynamicNavMesh {
                 dirty = false;
                 return true;
             }
+
             return false;
         }
 
-    private DynamicTile getTileAt(int x, int z) {
+        private DynamicTile getTileAt(int x, int z)
+        {
             return _tiles.TryGetValue(lookupKey(x, z), out var tile)
                 ? tile
                 : null;
         }
 
-    private long lookupKey(long x, long z) {
+        private long lookupKey(long x, long z)
+        {
             return (z << 32) | x;
         }
 
-    public List<VoxelTile> voxelTiles() {
+        public List<VoxelTile> voxelTiles()
+        {
             return _tiles.Values.Select(t => t.voxelTile).ToList();
         }
 
-    public List<RecastBuilderResult> recastResults() {
+        public List<RecastBuilderResult> recastResults()
+        {
             return _tiles.Values.Select(t => t.recastResult).ToList();
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/DynamicNavMeshConfig.cs

@@ -20,10 +20,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class DynamicNavMeshConfig
-
+    {
-public class DynamicNavMeshConfig {
-
         public readonly bool useTiles;
         public readonly int tileSizeX;
         public readonly int tileSizeZ;
@@ -48,13 +46,12 @@ public class DynamicNavMeshConfig {
         public bool enableCheckpoints = true;
         public bool keepIntermediateResults = false;
 
-    public DynamicNavMeshConfig(bool useTiles, int tileSizeX, int tileSizeZ, float cellSize) {
+        public DynamicNavMeshConfig(bool useTiles, int tileSizeX, int tileSizeZ, float cellSize)
+        {
             this.useTiles = useTiles;
             this.tileSizeX = tileSizeX;
             this.tileSizeZ = tileSizeZ;
             this.cellSize = cellSize;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/DynamicTile.cs

@@ -27,10 +27,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class DynamicTile
-
+    {
-public class DynamicTile {
-
         public readonly VoxelTile voxelTile;
         public DynamicTileCheckpoint checkpoint;
         public RecastBuilderResult recastResult;
@@ -39,12 +37,15 @@ public class DynamicTile {
         private bool dirty = true;
         private long id;
 
-    public DynamicTile(VoxelTile voxelTile) {
+        public DynamicTile(VoxelTile voxelTile)
+        {
             this.voxelTile = voxelTile;
         }
 
-    public bool build(RecastBuilder builder, DynamicNavMeshConfig config, Telemetry telemetry) {
+        public bool build(RecastBuilder builder, DynamicNavMeshConfig config, Telemetry telemetry)
-        if (dirty) {
+        {
+            if (dirty)
+            {
                 Heightfield heightfield = buildHeightfield(config, telemetry);
                 RecastBuilderResult r = buildRecast(builder, config, voxelTile, heightfield, telemetry);
                 NavMeshDataCreateParams option = navMeshCreateParams(voxelTile.tileX, voxelTile.tileZ, voxelTile.cellSize,
@@ -52,26 +53,34 @@ public class DynamicTile {
                 meshData = NavMeshBuilder.createNavMeshData(option);
                 return true;
             }
+
             return false;
         }
 
-    private Heightfield buildHeightfield(DynamicNavMeshConfig config, Telemetry telemetry) {
+        private Heightfield buildHeightfield(DynamicNavMeshConfig config, Telemetry telemetry)
+        {
             ICollection<long> rasterizedColliders = checkpoint != null ? checkpoint.colliders : ImmutableHashSet<long>.Empty;
             Heightfield heightfield = checkpoint != null ? checkpoint.heightfield : voxelTile.heightfield();
-        foreach (var (cid, c) in colliders) {
+            foreach (var (cid, c) in colliders)
-            if (!rasterizedColliders.Contains(cid)) {
+            {
+                if (!rasterizedColliders.Contains(cid))
+                {
                     heightfield.bmax[1] = Math.Max(heightfield.bmax[1], c.bounds()[4] + heightfield.ch * 2);
                     c.rasterize(heightfield, telemetry);
                 }
             }
-        if (config.enableCheckpoints) {
+
+            if (config.enableCheckpoints)
+            {
                 checkpoint = new DynamicTileCheckpoint(heightfield, colliders.Keys.ToHashSet());
             }
+
             return heightfield;
         }
 
         private RecastBuilderResult buildRecast(RecastBuilder builder, DynamicNavMeshConfig config, VoxelTile vt,
-            Heightfield heightfield, Telemetry telemetry) {
+            Heightfield heightfield, Telemetry telemetry)
+        {
             RecastConfig rcConfig = new RecastConfig(config.useTiles, config.tileSizeX, config.tileSizeZ, vt.borderSize,
                 config.partitionType, vt.cellSize, vt.cellHeight, config.walkableSlopeAngle, true, true, true,
                 config.walkableHeight, config.walkableRadius, config.walkableClimb, config.minRegionArea, config.regionMergeArea,
@@ -79,36 +88,45 @@ public class DynamicTile {
                 Math.Min(DynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly), true, config.detailSampleDistance,
                 config.detailSampleMaxError, null);
             RecastBuilderResult r = builder.build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, telemetry);
-        if (config.keepIntermediateResults) {
+            if (config.keepIntermediateResults)
+            {
                 recastResult = r;
             }
+
             return r;
         }
 
-    public void addCollider(long cid, Collider collider) {
+        public void addCollider(long cid, Collider collider)
+        {
             colliders[cid] = collider;
             dirty = true;
         }
 
-    public bool containsCollider(long cid) {
+        public bool containsCollider(long cid)
+        {
             return colliders.ContainsKey(cid);
         }
 
-    public void removeCollider(long colliderId) {
+        public void removeCollider(long colliderId)
-        if (colliders.TryRemove(colliderId, out var collider)) {
+        {
+            if (colliders.TryRemove(colliderId, out var collider))
+            {
                 dirty = true;
                 checkpoint = null;
             }
         }
 
         private NavMeshDataCreateParams navMeshCreateParams(int tilex, int tileZ, float cellSize, float cellHeight,
-            DynamicNavMeshConfig config, RecastBuilderResult rcResult) {
+            DynamicNavMeshConfig config, RecastBuilderResult rcResult)
+        {
             PolyMesh m_pmesh = rcResult.getMesh();
             PolyMeshDetail m_dmesh = rcResult.getMeshDetail();
             NavMeshDataCreateParams option = new NavMeshDataCreateParams();
-        for (int i = 0; i < m_pmesh.npolys; ++i) {
+            for (int i = 0; i < m_pmesh.npolys; ++i)
+            {
                 m_pmesh.flags[i] = 1;
             }
+
             option.tileX = tilex;
             option.tileZ = tileZ;
             option.verts = m_pmesh.verts;
@@ -118,13 +136,15 @@ public class DynamicTile {
             option.polyFlags = m_pmesh.flags;
             option.polyCount = m_pmesh.npolys;
             option.nvp = m_pmesh.nvp;
-        if (m_dmesh != null) {
+            if (m_dmesh != null)
+            {
                 option.detailMeshes = m_dmesh.meshes;
                 option.detailVerts = m_dmesh.verts;
                 option.detailVertsCount = m_dmesh.nverts;
                 option.detailTris = m_dmesh.tris;
                 option.detailTriCount = m_dmesh.ntris;
             }
+
             option.walkableHeight = config.walkableHeight;
             option.walkableRadius = config.walkableRadius;
             option.walkableClimb = config.walkableClimb;
@@ -144,14 +164,17 @@ public class DynamicTile {
             return option;
         }
 
-    public void addTo(NavMesh navMesh) {
+        public void addTo(NavMesh navMesh)
-        if (meshData != null) {
+        {
+            if (meshData != null)
+            {
                 id = navMesh.addTile(meshData, 0, 0);
-        } else {
+            }
+            else
+            {
                 navMesh.removeTile(id);
                 id = 0;
             }
         }
-}
+    }
-
 }

src/DotRecast.Detour.Dynamic/DynamicTileCheckpoint.cs

@@ -18,48 +18,53 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Recast;
-
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class DynamicTileCheckpoint
-
+    {
-public class DynamicTileCheckpoint {
-
         public readonly Heightfield heightfield;
         public readonly ISet<long> colliders;
 
-    public DynamicTileCheckpoint(Heightfield heightfield, ISet<long> colliders) {
+        public DynamicTileCheckpoint(Heightfield heightfield, ISet<long> colliders)
+        {
             this.colliders = colliders;
             this.heightfield = clone(heightfield);
         }
 
-    private Heightfield clone(Heightfield source) {
+        private Heightfield clone(Heightfield source)
+        {
             Heightfield clone = new Heightfield(source.width, source.height, vCopy(source.bmin), vCopy(source.bmax), source.cs,
                 source.ch, source.borderSize);
-        for (int z = 0, pz = 0; z < source.height; z++, pz += source.width) {
+            for (int z = 0, pz = 0; z < source.height; z++, pz += source.width)
-            for (int x = 0; x < source.width; x++) {
+            {
+                for (int x = 0; x < source.width; x++)
+                {
                     Span span = source.spans[pz + x];
                     Span prevCopy = null;
-                while (span != null) {
+                    while (span != null)
+                    {
                         Span copy = new Span();
                         copy.smin = span.smin;
                         copy.smax = span.smax;
                         copy.area = span.area;
-                    if (prevCopy == null) {
+                        if (prevCopy == null)
+                        {
                             clone.spans[pz + x] = copy;
-                    } else {
+                        }
+                        else
+                        {
                             prevCopy.next = copy;
                         }
+
                         prevCopy = copy;
                         span = span.next;
                     }
                 }
             }
+
             return clone;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/ByteUtils.cs

@@ -20,62 +20,74 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public static class ByteUtils
-
+    {
-public static class ByteUtils {
+        public static int getInt(byte[] data, int position, ByteOrder order)
-
+        {
-    public static int getInt(byte[] data, int position, ByteOrder order) {
             return order == ByteOrder.BIG_ENDIAN ? getIntBE(data, position) : getIntLE(data, position);
         }
 
-    public static int getIntBE(byte[] data, int position) {
+        public static int getIntBE(byte[] data, int position)
+        {
             return ((data[position] & 0xff) << 24) | ((data[position + 1] & 0xff) << 16) | ((data[position + 2] & 0xff) << 8)
                    | (data[position + 3] & 0xff);
         }
 
-    public static int getIntLE(byte[] data, int position) {
+        public static int getIntLE(byte[] data, int position)
+        {
             return ((data[position + 3] & 0xff) << 24) | ((data[position + 2] & 0xff) << 16) | ((data[position + 1] & 0xff) << 8)
                    | (data[position] & 0xff);
         }
 
-    public static int getShort(byte[] data, int position, ByteOrder order) {
+        public static int getShort(byte[] data, int position, ByteOrder order)
+        {
             return order == ByteOrder.BIG_ENDIAN ? getShortBE(data, position) : getShortLE(data, position);
         }
 
-    public static int getShortBE(byte[] data, int position) {
+        public static int getShortBE(byte[] data, int position)
+        {
             return ((data[position] & 0xff) << 8) | (data[position + 1] & 0xff);
         }
 
-    public static int getShortLE(byte[] data, int position) {
+        public static int getShortLE(byte[] data, int position)
+        {
             return ((data[position + 1] & 0xff) << 8) | (data[position] & 0xff);
         }
 
-    public static int putInt(int value, byte[] data, int position, ByteOrder order) {
+        public static int putInt(int value, byte[] data, int position, ByteOrder order)
-        if (order == ByteOrder.BIG_ENDIAN) {
+        {
-            data[position] = (byte) ((uint)value >> 24);
+            if (order == ByteOrder.BIG_ENDIAN)
-            data[position + 1] = (byte) ((uint)value >> 16);
+            {
-            data[position + 2] = (byte) ((uint)value >> 8);
+                data[position] = (byte)((uint)value >> 24);
-            data[position + 3] = (byte) (value & 0xFF);
+                data[position + 1] = (byte)((uint)value >> 16);
-        } else {
+                data[position + 2] = (byte)((uint)value >> 8);
-            data[position] = (byte) (value & 0xFF);
+                data[position + 3] = (byte)(value & 0xFF);
-            data[position + 1] = (byte) ((uint)value >> 8);
-            data[position + 2] = (byte) ((uint)value >> 16);
-            data[position + 3] = (byte) ((uint)value >> 24);
             }
+            else
+            {
+                data[position] = (byte)(value & 0xFF);
+                data[position + 1] = (byte)((uint)value >> 8);
+                data[position + 2] = (byte)((uint)value >> 16);
+                data[position + 3] = (byte)((uint)value >> 24);
+            }
+
             return position + 4;
         }
 
-    public static int putShort(int value, byte[] data, int position, ByteOrder order) {
+        public static int putShort(int value, byte[] data, int position, ByteOrder order)
-        if (order == ByteOrder.BIG_ENDIAN) {
+        {
-            data[position] = (byte) ((uint)value >> 8);
+            if (order == ByteOrder.BIG_ENDIAN)
-            data[position + 1] = (byte) (value & 0xFF);
+            {
-        } else {
+                data[position] = (byte)((uint)value >> 8);
-            data[position] = (byte) (value & 0xFF);
+                data[position + 1] = (byte)(value & 0xFF);
-            data[position + 1] = (byte) ((uint)value >> 8);
             }
+            else
+            {
+                data[position] = (byte)(value & 0xFF);
+                data[position + 1] = (byte)((uint)value >> 8);
+            }
+
             return position + 2;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/LZ4VoxelTileCompressor.cs

@@ -22,23 +22,21 @@ using K4os.Compression.LZ4;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public class LZ4VoxelTileCompressor
-
+    {
-public class LZ4VoxelTileCompressor {
+        public byte[] decompress(byte[] data)
-
+        {
-    public byte[] decompress(byte[] data) {
             int compressedSize = ByteUtils.getIntBE(data, 0);
             return LZ4Pickler.Unpickle(data.AsSpan(4, compressedSize));
         }
 
-    public byte[] compress(byte[] data) {
+        public byte[] compress(byte[] data)
+        {
             byte[] compressed = LZ4Pickler.Pickle(data, LZ4Level.L12_MAX);
             byte[] result = new byte[4 + compressed.Length];
             ByteUtils.putInt(compressed.Length, result, 0, ByteOrder.BIG_ENDIAN);
             Array.Copy(compressed, 0, result, 4, compressed.Length);
             return result;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/VoxelFile.cs

@@ -23,10 +23,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public class VoxelFile
-
+    {
-public class VoxelFile {
-
         public static readonly ByteOrder PREFERRED_BYTE_ORDER = ByteOrder.BIG_ENDIAN;
         public const int MAGIC = 'V' << 24 | 'O' << 16 | 'X' << 8 | 'L';
         public const int VERSION_EXPORTER_MASK = 0xF000;
@@ -58,20 +56,23 @@ public class VoxelFile {
         public float[] bounds = new float[6];
         public readonly List<VoxelTile> tiles = new List<VoxelTile>();
 
-    public void addTile(VoxelTile tile) {
+        public void addTile(VoxelTile tile)
+        {
             tiles.Add(tile);
         }
 
         public RecastConfig getConfig(VoxelTile tile, PartitionType partitionType, int maxPolyVerts, int regionMergeSize,
             bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
-            AreaModification walkbableAreaMod, bool buildMeshDetail, float detailSampleDist, float detailSampleMaxError) {
+            AreaModification walkbableAreaMod, bool buildMeshDetail, float detailSampleDist, float detailSampleMaxError)
+        {
             return new RecastConfig(useTiles, tileSizeX, tileSizeZ, tile.borderSize, partitionType, cellSize, tile.cellHeight,
                 walkableSlopeAngle, filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans, walkableHeight,
                 walkableRadius, walkableClimb, minRegionArea, regionMergeArea, maxEdgeLen, maxSimplificationError, maxPolyVerts,
                 buildMeshDetail, detailSampleDist, detailSampleMaxError, walkbableAreaMod);
         }
 
-    public static VoxelFile from(RecastConfig config, List<RecastBuilderResult> results) {
+        public static VoxelFile from(RecastConfig config, List<RecastBuilderResult> results)
+        {
             VoxelFile f = new VoxelFile();
             f.version = 1;
             f.partitionType = config.partitionType;
@@ -94,9 +95,13 @@ public class VoxelFile {
             f.useTiles = config.useTiles;
             f.tileSizeX = config.tileSizeX;
             f.tileSizeZ = config.tileSizeZ;
-        f.bounds = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+            f.bounds = new float[]
-                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
+            {
-        foreach (RecastBuilderResult r in results) {
+                float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
+            };
+            foreach (RecastBuilderResult r in results)
+            {
                 f.tiles.Add(new VoxelTile(r.tileX, r.tileZ, r.getSolidHeightfield()));
                 f.bounds[0] = Math.Min(f.bounds[0], r.getSolidHeightfield().bmin[0]);
                 f.bounds[1] = Math.Min(f.bounds[1], r.getSolidHeightfield().bmin[1]);
@@ -105,10 +110,12 @@ public class VoxelFile {
                 f.bounds[4] = Math.Max(f.bounds[4], r.getSolidHeightfield().bmax[1]);
                 f.bounds[5] = Math.Max(f.bounds[5], r.getSolidHeightfield().bmax[2]);
             }
+
             return f;
         }
 
-    public static VoxelFile from(DynamicNavMesh mesh) {
+        public static VoxelFile from(DynamicNavMesh mesh)
+        {
             VoxelFile f = new VoxelFile();
             f.version = 1;
             DynamicNavMeshConfig config = mesh.config;
@@ -132,9 +139,13 @@ public class VoxelFile {
             f.useTiles = config.useTiles;
             f.tileSizeX = config.tileSizeX;
             f.tileSizeZ = config.tileSizeZ;
-        f.bounds = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+            f.bounds = new float[]
-                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
+            {
-        foreach (VoxelTile vt in mesh.voxelTiles()) {
+                float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
+                float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
+            };
+            foreach (VoxelTile vt in mesh.voxelTiles())
+            {
                 Heightfield heightfield = vt.heightfield();
                 f.tiles.Add(new VoxelTile(vt.tileX, vt.tileZ, heightfield));
                 f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin[0]);
@@ -144,9 +155,8 @@ public class VoxelFile {
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax[1]);
                 f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax[2]);
             }
+
             return f;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/VoxelFileReader.cs

@@ -22,23 +22,26 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public class VoxelFileReader
-
+    {
-public class VoxelFileReader {
-
         private readonly LZ4VoxelTileCompressor compressor = new LZ4VoxelTileCompressor();
 
-    public VoxelFile read(BinaryReader stream) {
+        public VoxelFile read(BinaryReader stream)
+        {
             ByteBuffer buf = IOUtils.toByteBuffer(stream);
             VoxelFile file = new VoxelFile();
             int magic = buf.getInt();
-        if (magic != VoxelFile.MAGIC) {
+            if (magic != VoxelFile.MAGIC)
+            {
                 magic = IOUtils.swapEndianness(magic);
-            if (magic != VoxelFile.MAGIC) {
+                if (magic != VoxelFile.MAGIC)
+                {
                     throw new IOException("Invalid magic");
                 }
+
                 buf.order(buf.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN);
             }
+
             file.version = buf.getInt();
             bool isExportedFromAstar = (file.version & VoxelFile.VERSION_EXPORTER_MASK) == 0;
             bool compression = (file.version & VoxelFile.VERSION_COMPRESSION_MASK) == VoxelFile.VERSION_COMPRESSION_LZ4;
@@ -49,20 +52,24 @@ public class VoxelFileReader {
             file.cellSize = buf.getFloat();
             file.maxSimplificationError = buf.getFloat();
             file.maxEdgeLen = buf.getFloat();
-        file.minRegionArea = (int) buf.getFloat();
+            file.minRegionArea = (int)buf.getFloat();
-        if (!isExportedFromAstar) {
+            if (!isExportedFromAstar)
+            {
                 file.regionMergeArea = buf.getFloat();
                 file.vertsPerPoly = buf.getInt();
                 file.buildMeshDetail = buf.get() != 0;
                 file.detailSampleDistance = buf.getFloat();
                 file.detailSampleMaxError = buf.getFloat();
-        } else {
+            }
+            else
+            {
                 file.regionMergeArea = 6 * file.minRegionArea;
                 file.vertsPerPoly = 6;
                 file.buildMeshDetail = true;
                 file.detailSampleDistance = file.maxEdgeLen * 0.5f;
                 file.detailSampleMaxError = file.maxSimplificationError * 0.8f;
             }
+
             file.useTiles = buf.get() != 0;
             file.tileSizeX = buf.getInt();
             file.tileSizeZ = buf.getInt();
@@ -75,7 +82,8 @@ public class VoxelFileReader {
             file.bounds[3] = buf.getFloat();
             file.bounds[4] = buf.getFloat();
             file.bounds[5] = buf.getFloat();
-        if (isExportedFromAstar) {
+            if (isExportedFromAstar)
+            {
                 // bounds are saved as center + size
                 file.bounds[0] -= 0.5f * file.bounds[3];
                 file.bounds[1] -= 0.5f * file.bounds[4];
@@ -84,8 +92,10 @@ public class VoxelFileReader {
                 file.bounds[4] += file.bounds[1];
                 file.bounds[5] += file.bounds[2];
             }
+
             int tileCount = buf.getInt();
-        for (int tile = 0; tile < tileCount; tile++) {
+            for (int tile = 0; tile < tileCount; tile++)
+            {
                 int tileX = buf.getInt();
                 int tileZ = buf.getInt();
                 int width = buf.getInt();
@@ -99,7 +109,8 @@ public class VoxelFileReader {
                 boundsMax[0] = buf.getFloat();
                 boundsMax[1] = buf.getFloat();
                 boundsMax[2] = buf.getFloat();
-            if (isExportedFromAstar) {
+                if (isExportedFromAstar)
+                {
                     // bounds are local
                     boundsMin[0] += file.bounds[0];
                     boundsMin[1] += file.bounds[1];
@@ -108,22 +119,24 @@ public class VoxelFileReader {
                     boundsMax[1] += file.bounds[1];
                     boundsMax[2] += file.bounds[2];
                 }
+
                 float cellSize = buf.getFloat();
                 float cellHeight = buf.getFloat();
                 int voxelSize = buf.getInt();
                 int position = buf.position();
                 byte[] bytes = buf.ReadBytes(voxelSize).ToArray();
-            if (compression) {
+                if (compression)
+                {
                     bytes = compressor.decompress(bytes);
                 }
+
                 ByteBuffer data = new ByteBuffer(bytes);
                 data.order(buf.order());
                 file.addTile(new VoxelTile(tileX, tileZ, width, depth, boundsMin, boundsMax, cellSize, cellHeight, borderSize, data));
                 buf.position(position + voxelSize);
             }
+
             return file;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/VoxelFileWriter.cs

@@ -22,17 +22,17 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public class VoxelFileWriter : DetourWriter
-
+    {
-public class VoxelFileWriter : DetourWriter {
-
         private readonly LZ4VoxelTileCompressor compressor = new LZ4VoxelTileCompressor();
 
-    public void write(BinaryWriter stream, VoxelFile f, bool compression) {
+        public void write(BinaryWriter stream, VoxelFile f, bool compression)
+        {
             write(stream, f, VoxelFile.PREFERRED_BYTE_ORDER, compression);
         }
 
-    public void write(BinaryWriter stream, VoxelFile f, ByteOrder byteOrder, bool compression) {
+        public void write(BinaryWriter stream, VoxelFile f, ByteOrder byteOrder, bool compression)
+        {
             write(stream, VoxelFile.MAGIC, byteOrder);
             write(stream, VoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? VoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
             write(stream, f.walkableRadius, byteOrder);
@@ -61,12 +61,14 @@ public class VoxelFileWriter : DetourWriter {
             write(stream, f.bounds[4], byteOrder);
             write(stream, f.bounds[5], byteOrder);
             write(stream, f.tiles.Count, byteOrder);
-        foreach (VoxelTile t in f.tiles) {
+            foreach (VoxelTile t in f.tiles)
+            {
                 writeTile(stream, t, byteOrder, compression);
             }
         }
 
-    public void writeTile(BinaryWriter stream, VoxelTile tile, ByteOrder byteOrder, bool compression) {
+        public void writeTile(BinaryWriter stream, VoxelTile tile, ByteOrder byteOrder, bool compression)
+        {
             write(stream, tile.tileX, byteOrder);
             write(stream, tile.tileZ, byteOrder);
             write(stream, tile.width, byteOrder);
@@ -81,13 +83,13 @@ public class VoxelFileWriter : DetourWriter {
             write(stream, tile.cellSize, byteOrder);
             write(stream, tile.cellHeight, byteOrder);
             byte[] bytes = tile.spanData;
-        if (compression) {
+            if (compression)
+            {
                 bytes = compressor.compress(bytes);
             }
+
             write(stream, bytes.Length, byteOrder);
             stream.Write(bytes);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/Io/VoxelTile.cs

@@ -21,11 +21,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-
+    public class VoxelTile
-
+    {
-
-public class VoxelTile {
-
         private const int SERIALIZED_SPAN_COUNT_BYTES = 2;
         private const int SERIALIZED_SPAN_BYTES = 12;
         public readonly int tileX;
@@ -40,7 +37,8 @@ public class VoxelTile {
         public readonly byte[] spanData;
 
         public VoxelTile(int tileX, int tileZ, int width, int depth, float[] boundsMin, float[] boundsMax, float cellSize,
-            float cellHeight, int borderSize, ByteBuffer buffer) {
+            float cellHeight, int borderSize, ByteBuffer buffer)
+        {
             this.tileX = tileX;
             this.tileZ = tileZ;
             this.width = width;
@@ -53,7 +51,8 @@ public class VoxelTile {
             spanData = toByteArray(buffer, width, depth, VoxelFile.PREFERRED_BYTE_ORDER);
         }
 
-    public VoxelTile(int tileX, int tileZ, Heightfield heightfield) {
+        public VoxelTile(int tileX, int tileZ, Heightfield heightfield)
+        {
             this.tileX = tileX;
             this.tileZ = tileZ;
             width = heightfield.width;
@@ -66,19 +65,24 @@ public class VoxelTile {
             spanData = serializeSpans(heightfield, VoxelFile.PREFERRED_BYTE_ORDER);
         }
 
-    public Heightfield heightfield() {
+        public Heightfield heightfield()
+        {
             return VoxelFile.PREFERRED_BYTE_ORDER == ByteOrder.BIG_ENDIAN ? heightfieldBE() : heightfieldLE();
         }
 
-    private Heightfield heightfieldBE() {
+        private Heightfield heightfieldBE()
+        {
             Heightfield hf = new Heightfield(width, depth, boundsMin, boundsMax, cellSize, cellHeight, borderSize);
             int position = 0;
-        for (int z = 0, pz = 0; z < depth; z++, pz += width) {
+            for (int z = 0, pz = 0; z < depth; z++, pz += width)
-            for (int x = 0; x < width; x++) {
+            {
+                for (int x = 0; x < width; x++)
+                {
                     Span prev = null;
                     int spanCount = ByteUtils.getShortBE(spanData, position);
                     position += 2;
-                for (int s = 0; s < spanCount; s++) {
+                    for (int s = 0; s < spanCount; s++)
+                    {
                         Span span = new Span();
                         span.smin = ByteUtils.getIntBE(spanData, position);
                         position += 4;
@@ -86,27 +90,36 @@ public class VoxelTile {
                         position += 4;
                         span.area = ByteUtils.getIntBE(spanData, position);
                         position += 4;
-                    if (prev == null) {
+                        if (prev == null)
+                        {
                             hf.spans[pz + x] = span;
-                    } else {
+                        }
+                        else
+                        {
                             prev.next = span;
                         }
+
                         prev = span;
                     }
                 }
             }
+
             return hf;
         }
 
-    private Heightfield heightfieldLE() {
+        private Heightfield heightfieldLE()
+        {
             Heightfield hf = new Heightfield(width, depth, boundsMin, boundsMax, cellSize, cellHeight, borderSize);
             int position = 0;
-        for (int z = 0, pz = 0; z < depth; z++, pz += width) {
+            for (int z = 0, pz = 0; z < depth; z++, pz += width)
-            for (int x = 0; x < width; x++) {
+            {
+                for (int x = 0; x < width; x++)
+                {
                     Span prev = null;
                     int spanCount = ByteUtils.getShortLE(spanData, position);
                     position += 2;
-                for (int s = 0; s < spanCount; s++) {
+                    for (int s = 0; s < spanCount; s++)
+                    {
                         Span span = new Span();
                         span.smin = ByteUtils.getIntLE(spanData, position);
                         position += 4;
@@ -114,38 +127,51 @@ public class VoxelTile {
                         position += 4;
                         span.area = ByteUtils.getIntLE(spanData, position);
                         position += 4;
-                    if (prev == null) {
+                        if (prev == null)
+                        {
                             hf.spans[pz + x] = span;
-                    } else {
+                        }
+                        else
+                        {
                             prev.next = span;
                         }
+
                         prev = span;
                     }
                 }
             }
+
             return hf;
         }
 
-    private byte[] serializeSpans(Heightfield heightfield, ByteOrder order) {
+        private byte[] serializeSpans(Heightfield heightfield, ByteOrder order)
+        {
             int[] counts = new int[heightfield.width * heightfield.height];
             int totalCount = 0;
-        for (int z = 0, pz = 0; z < heightfield.height; z++, pz += heightfield.width) {
+            for (int z = 0, pz = 0; z < heightfield.height; z++, pz += heightfield.width)
-            for (int x = 0; x < heightfield.width; x++) {
+            {
+                for (int x = 0; x < heightfield.width; x++)
+                {
                     Span span = heightfield.spans[pz + x];
-                while (span != null) {
+                    while (span != null)
+                    {
                         counts[pz + x]++;
                         totalCount++;
                         span = span.next;
                     }
                 }
             }
+
             byte[] data = new byte[totalCount * SERIALIZED_SPAN_BYTES + counts.Length * SERIALIZED_SPAN_COUNT_BYTES];
             int position = 0;
-        for (int z = 0, pz = 0; z < heightfield.height; z++, pz += heightfield.width) {
+            for (int z = 0, pz = 0; z < heightfield.height; z++, pz += heightfield.width)
-            for (int x = 0; x < heightfield.width; x++) {
+            {
+                for (int x = 0; x < heightfield.width; x++)
+                {
                     position = ByteUtils.putShort(counts[pz + x], data, position, order);
                     Span span = heightfield.spans[pz + x];
-                while (span != null) {
+                    while (span != null)
+                    {
                         position = ByteUtils.putInt(span.smin, data, position, order);
                         position = ByteUtils.putInt(span.smax, data, position, order);
                         position = ByteUtils.putInt(span.area, data, position, order);
@@ -153,22 +179,29 @@ public class VoxelTile {
                     }
                 }
             }
+
             return data;
         }
 
-    private byte[] toByteArray(ByteBuffer buf, int width, int height, ByteOrder order) {
+        private byte[] toByteArray(ByteBuffer buf, int width, int height, ByteOrder order)
+        {
             byte[] data;
-        if (buf.order() == order) {
+            if (buf.order() == order)
+            {
                 data = buf.ReadBytes(buf.limit()).ToArray();
-        } else {
+            }
+            else
+            {
                 data = new byte[buf.limit()];
                 int l = width * height;
                 int position = 0;
-            for (int i = 0; i < l; i++) {
+                for (int i = 0; i < l; i++)
+                {
                     int count = buf.getShort();
                     ByteUtils.putShort(count, data, position, order);
                     position += 2;
-                for (int j = 0; j < count; j++) {
+                    for (int j = 0; j < count; j++)
+                    {
                         ByteUtils.putInt(buf.getInt(), data, position, order);
                         position += 4;
                         ByteUtils.putInt(buf.getInt(), data, position, order);
@@ -178,8 +211,8 @@ public class VoxelTile {
                     }
                 }
             }
+
             return data;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Dynamic/RemoveColliderQueueItem.cs

@@ -20,26 +20,25 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public class RemoveColliderQueueItem : UpdateQueueItem
-
+    {
-public class RemoveColliderQueueItem : UpdateQueueItem {
-
         private readonly long colliderId;
         private readonly ICollection<DynamicTile> _affectedTiles;
 
-    public RemoveColliderQueueItem(long colliderId, ICollection<DynamicTile> affectedTiles) {
+        public RemoveColliderQueueItem(long colliderId, ICollection<DynamicTile> affectedTiles)
+        {
             this.colliderId = colliderId;
             this._affectedTiles = affectedTiles;
         }
 
-    public ICollection<DynamicTile> affectedTiles() {
+        public ICollection<DynamicTile> affectedTiles()
+        {
             return _affectedTiles;
         }
 
-    public void process(DynamicTile tile) {
+        public void process(DynamicTile tile)
+        {
             tile.removeCollider(colliderId);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/UpdateQueueItem.cs

@@ -20,14 +20,10 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    public interface UpdateQueueItem
-
+    {
-public interface UpdateQueueItem {
-
         ICollection<DynamicTile> affectedTiles();
 
         void process(DynamicTile tile);
-
+    }
-}
-
 }

src/DotRecast.Detour.Dynamic/VoxelQuery.cs

@@ -21,22 +21,20 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-
+    /**
-
-
-/**
  * Voxel raycast based on the algorithm described in
  *
  * "A Fast Voxel Traversal Algorithm for Ray Tracing" by John Amanatides and Andrew Woo
  */
-public class VoxelQuery {
+    public class VoxelQuery
-
+    {
         private readonly float[] origin;
         private readonly float tileWidth;
         private readonly float tileDepth;
         private readonly Func<int, int, Heightfield> heightfieldProvider;
 
-    public VoxelQuery(float[] origin, float tileWidth, float tileDepth, Func<int, int, Heightfield> heightfieldProvider) {
+        public VoxelQuery(float[] origin, float tileWidth, float tileDepth, Func<int, int, Heightfield> heightfieldProvider)
+        {
             this.origin = origin;
             this.tileWidth = tileWidth;
             this.tileDepth = tileDepth;
@@ -48,17 +46,19 @@ public class VoxelQuery {
      *
      * @return Optional with hit parameter (t) or empty if no hit found
      */
-    public float? raycast(float[] start, float[] end) {
+        public float? raycast(float[] start, float[] end)
+        {
             return traverseTiles(start, end);
         }
 
-    private float? traverseTiles(float[] start, float[] end) {
+        private float? traverseTiles(float[] start, float[] end)
+        {
             float relStartX = start[0] - origin[0];
             float relStartZ = start[2] - origin[2];
-        int sx = (int) Math.Floor(relStartX / tileWidth);
+            int sx = (int)Math.Floor(relStartX / tileWidth);
-        int sz = (int) Math.Floor(relStartZ / tileDepth);
+            int sz = (int)Math.Floor(relStartZ / tileDepth);
-        int ex = (int) Math.Floor((end[0] - origin[0]) / tileWidth);
+            int ex = (int)Math.Floor((end[0] - origin[0]) / tileWidth);
-        int ez = (int) Math.Floor((end[2] - origin[2]) / tileDepth);
+            int ez = (int)Math.Floor((end[2] - origin[2]) / tileDepth);
             int dx = ex - sx;
             int dz = ez - sz;
             int stepX = dx < 0 ? -1 : 1;
@@ -76,19 +76,27 @@ public class VoxelQuery {
             float tDeltaX = tileWidth / tx;
             float tDeltaZ = tileDepth / tz;
             float t = 0;
-        while (true) {
+            while (true)
+            {
                 float? hit = traversHeightfield(sx, sz, start, end, t, Math.Min(1, Math.Min(tMaxX, tMaxZ)));
-            if (hit.HasValue) {
+                if (hit.HasValue)
+                {
                     return hit;
                 }
-            if ((dx > 0 ? sx >= ex : sx <= ex) && (dz > 0 ? sz >= ez : sz <= ez)) {
+
+                if ((dx > 0 ? sx >= ex : sx <= ex) && (dz > 0 ? sz >= ez : sz <= ez))
+                {
                     break;
                 }
-            if (tMaxX < tMaxZ) {
+
+                if (tMaxX < tMaxZ)
+                {
                     t = tMaxX;
                     tMaxX += tDeltaX;
                     sx += stepX;
-            } else {
+                }
+                else
+                {
                     t = tMaxZ;
                     tMaxZ += tDeltaZ;
                     sz += stepZ;
@@ -98,9 +106,11 @@ public class VoxelQuery {
             return null;
         }
 
-    private float? traversHeightfield(int x, int z, float[] start, float[] end, float tMin, float tMax) {
+        private float? traversHeightfield(int x, int z, float[] start, float[] end, float tMin, float tMax)
+        {
             Heightfield hf = heightfieldProvider.Invoke(x, z);
-        if (null != hf) {
+            if (null != hf)
+            {
                 float tx = end[0] - start[0];
                 float ty = end[1] - start[1];
                 float tz = end[2] - start[2];
@@ -108,10 +118,10 @@ public class VoxelQuery {
                 float[] exit = { start[0] + tMax * tx, start[1] + tMax * ty, start[2] + tMax * tz };
                 float relStartX = entry[0] - hf.bmin[0];
                 float relStartZ = entry[2] - hf.bmin[2];
-            int sx = (int) Math.Floor(relStartX / hf.cs);
+                int sx = (int)Math.Floor(relStartX / hf.cs);
-            int sz = (int) Math.Floor(relStartZ / hf.cs);
+                int sz = (int)Math.Floor(relStartZ / hf.cs);
-            int ex = (int) Math.Floor((exit[0] - hf.bmin[0]) / hf.cs);
+                int ex = (int)Math.Floor((exit[0] - hf.bmin[0]) / hf.cs);
-            int ez = (int) Math.Floor((exit[2] - hf.bmin[2]) / hf.cs);
+                int ez = (int)Math.Floor((exit[2] - hf.bmin[2]) / hf.cs);
                 int dx = ex - sx;
                 int dz = ez - sz;
                 int stepX = dx < 0 ? -1 : 1;
@@ -127,28 +137,39 @@ public class VoxelQuery {
                 float tDeltaX = hf.cs / tx;
                 float tDeltaZ = hf.cs / tz;
                 float t = 0;
-            while (true) {
+                while (true)
-                if (sx >= 0 && sx < hf.width && sz >= 0 && sz < hf.height) {
+                {
+                    if (sx >= 0 && sx < hf.width && sz >= 0 && sz < hf.height)
+                    {
                         float y1 = start[1] + ty * (tMin + t) - hf.bmin[1];
                         float y2 = start[1] + ty * (tMin + Math.Min(tMaxX, tMaxZ)) - hf.bmin[1];
                         float ymin = Math.Min(y1, y2) / hf.ch;
                         float ymax = Math.Max(y1, y2) / hf.ch;
                         Span span = hf.spans[sx + sz * hf.width];
-                    while (span != null) {
+                        while (span != null)
-                        if (span.smin <= ymin && span.smax >= ymax) {
+                        {
+                            if (span.smin <= ymin && span.smax >= ymax)
+                            {
                                 return Math.Min(1, tMin + t);
                             }
+
                             span = span.next;
                         }
                     }
-                if ((dx > 0 ? sx >= ex : sx <= ex) && (dz > 0 ? sz >= ez : sz <= ez)) {
+
+                    if ((dx > 0 ? sx >= ex : sx <= ex) && (dz > 0 ? sz >= ez : sz <= ez))
+                    {
                         break;
                     }
-                if (tMaxX < tMaxZ) {
+
+                    if (tMaxX < tMaxZ)
+                    {
                         t = tMaxX;
                         tMaxX += tDeltaX;
                         sx += stepX;
-                } else {
+                    }
+                    else
+                    {
                         t = tMaxZ;
                         tMaxZ += tDeltaZ;
                         sz += stepZ;
@@ -158,7 +179,5 @@ public class VoxelQuery {
 
             return null;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -20,19 +20,21 @@ using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Extras
 {
-
+    public class BVTreeBuilder
-
+    {
-public class BVTreeBuilder {
+        public void build(MeshData data)
-
+        {
-    public void build(MeshData data) {
             data.bvTree = new BVNode[data.header.polyCount * 2];
-        data.header.bvNodeCount = data.bvTree.Length == 0 ? 0
+            data.header.bvNodeCount = data.bvTree.Length == 0
+                ? 0
                 : createBVTree(data, data.bvTree, data.header.bvQuantFactor);
         }
 
-    private static int createBVTree(MeshData data, BVNode[] nodes, float quantFactor) {
+        private static int createBVTree(MeshData data, BVNode[] nodes, float quantFactor)
+        {
             NavMeshBuilder.BVItem[] items = new NavMeshBuilder.BVItem[data.header.polyCount];
-        for (int i = 0; i < data.header.polyCount; i++) {
+            for (int i = 0; i < data.header.polyCount; i++)
+            {
                 NavMeshBuilder.BVItem it = new NavMeshBuilder.BVItem();
                 items[i] = it;
                 it.i = i;
@@ -40,20 +42,21 @@ public class BVTreeBuilder {
                 float[] bmax = new float[3];
                 vCopy(bmin, data.verts, data.polys[i].verts[0] * 3);
                 vCopy(bmax, data.verts, data.polys[i].verts[0] * 3);
-            for (int j = 1; j < data.polys[i].vertCount; j++) {
+                for (int j = 1; j < data.polys[i].vertCount; j++)
+                {
                     vMin(bmin, data.verts, data.polys[i].verts[j] * 3);
                     vMax(bmax, data.verts, data.polys[i].verts[j] * 3);
                 }
-            it.bmin[0] = clamp((int) ((bmin[0] - data.header.bmin[0]) * quantFactor), 0, 0x7fffffff);
+
-            it.bmin[1] = clamp((int) ((bmin[1] - data.header.bmin[1]) * quantFactor), 0, 0x7fffffff);
+                it.bmin[0] = clamp((int)((bmin[0] - data.header.bmin[0]) * quantFactor), 0, 0x7fffffff);
-            it.bmin[2] = clamp((int) ((bmin[2] - data.header.bmin[2]) * quantFactor), 0, 0x7fffffff);
+                it.bmin[1] = clamp((int)((bmin[1] - data.header.bmin[1]) * quantFactor), 0, 0x7fffffff);
-            it.bmax[0] = clamp((int) ((bmax[0] - data.header.bmin[0]) * quantFactor), 0, 0x7fffffff);
+                it.bmin[2] = clamp((int)((bmin[2] - data.header.bmin[2]) * quantFactor), 0, 0x7fffffff);
-            it.bmax[1] = clamp((int) ((bmax[1] - data.header.bmin[1]) * quantFactor), 0, 0x7fffffff);
+                it.bmax[0] = clamp((int)((bmax[0] - data.header.bmin[0]) * quantFactor), 0, 0x7fffffff);
-            it.bmax[2] = clamp((int) ((bmax[2] - data.header.bmin[2]) * quantFactor), 0, 0x7fffffff);
+                it.bmax[1] = clamp((int)((bmax[1] - data.header.bmin[1]) * quantFactor), 0, 0x7fffffff);
+                it.bmax[2] = clamp((int)((bmax[2] - data.header.bmin[2]) * quantFactor), 0, 0x7fffffff);
             }
+
             return NavMeshBuilder.subdivide(items, data.header.polyCount, 0, data.header.polyCount, 0, nodes);
         }
-
+    }
-}
-
 }

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

@@ -5,8 +5,8 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj"/>
-    <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs

@@ -1,21 +1,20 @@
-
 using System;
 using DotRecast.Recast;
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public abstract class AbstractGroundSampler : GroundSampler
-
+    {
-public abstract class AbstractGroundSampler : GroundSampler {
-
         protected void sampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es,
-            Func<float[], float, Tuple<bool, float>> heightFunc) {
+            Func<float[], float, Tuple<bool, float>> heightFunc)
+        {
             float cs = acfg.cellSize;
-        float dist = (float) Math.Sqrt(vDist2DSqr(es.start.p, es.start.q));
+            float dist = (float)Math.Sqrt(vDist2DSqr(es.start.p, es.start.q));
-        int ngsamples = Math.Max(2, (int) Math.Ceiling(dist / cs));
+            int ngsamples = Math.Max(2, (int)Math.Ceiling(dist / cs));
             sampleGroundSegment(heightFunc, es.start, ngsamples);
-        foreach (GroundSegment end in es.end) {
+            foreach (GroundSegment end in es.end)
+            {
                 sampleGroundSegment(heightFunc, end, ngsamples);
             }
         }
@@ -26,11 +25,13 @@ public abstract class AbstractGroundSampler : GroundSampler {
         }
 
         protected void sampleGroundSegment(Func<float[], float, Tuple<bool, float>> heightFunc, GroundSegment seg,
-            int nsamples) {
+            int nsamples)
+        {
             seg.gsamples = new GroundSample[nsamples];
 
-        for (int i = 0; i < nsamples; ++i) {
+            for (int i = 0; i < nsamples; ++i)
-            float u = i / (float) (nsamples - 1);
+            {
+                float u = i / (float)(nsamples - 1);
 
                 GroundSample s = new GroundSample();
                 seg.gsamples[i] = s;
@@ -40,13 +41,13 @@ public abstract class AbstractGroundSampler : GroundSampler {
                 s.p[1] = height.Item2;
                 s.p[2] = pt[2];
 
-            if (!height.Item1) {
+                if (!height.Item1)
+                {
                     continue;
                 }
+
                 s.validHeight = true;
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs

@@ -2,16 +2,16 @@ using System;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class ClimbTrajectory : Trajectory
-
+    {
-public class ClimbTrajectory : Trajectory {
+        public override float[] apply(float[] start, float[] end, float u)
-
+        {
-    public override float[] apply(float[] start, float[] end, float u) {
+            return new float[]
-        return new float[] { lerp(start[0], end[0], Math.Min(2f * u, 1f)),
+            {
+                lerp(start[0], end[0], Math.Min(2f * u, 1f)),
                 lerp(start[1], end[1], Math.Max(0f, 2f * u - 1f)),
-                lerp(start[2], end[2], Math.Min(2f * u, 1f)) };
+                lerp(start[2], end[2], Math.Min(2f * u, 1f))
+            };
+        }
     }
-
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/Edge.cs

@@ -1,10 +1,8 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class Edge
-
+    {
-public class Edge {
         public readonly float[] sp = new float[3];
         public readonly float[] sq = new float[3];
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs

@@ -5,39 +5,55 @@ using static DotRecast.Recast.RecastConstants;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class EdgeExtractor
-
+    {
-public class EdgeExtractor {
+        public Edge[] extractEdges(PolyMesh mesh)
-    public Edge[] extractEdges(PolyMesh mesh) {
+        {
             List<Edge> edges = new List<Edge>();
-        if (mesh != null) {
+            if (mesh != null)
+            {
                 float[] orig = mesh.bmin;
                 float cs = mesh.cs;
                 float ch = mesh.ch;
-            for (int i = 0; i < mesh.npolys; i++) {
+                for (int i = 0; i < mesh.npolys; i++)
-                if (i > 41 || i < 41) {
+                {
+                    if (i > 41 || i < 41)
+                    {
                         //           continue;
                     }
+
                     int nvp = mesh.nvp;
                     int p = i * 2 * nvp;
-                for (int j = 0; j < nvp; ++j) {
+                    for (int j = 0; j < nvp; ++j)
-                    if (j != 1) {
+                    {
+                        if (j != 1)
+                        {
                             //                    continue;
                         }
-                    if (mesh.polys[p + j] == RC_MESH_NULL_IDX) {
+
+                        if (mesh.polys[p + j] == RC_MESH_NULL_IDX)
+                        {
                             break;
                         }
+
                         // Skip connected edges.
-                    if ((mesh.polys[p + nvp + j] & 0x8000) != 0) {
+                        if ((mesh.polys[p + nvp + j] & 0x8000) != 0)
+                        {
                             int dir = mesh.polys[p + nvp + j] & 0xf;
-                        if (dir == 0xf) {// Border
+                            if (dir == 0xf)
-                            if (mesh.polys[p + nvp + j] != RC_MESH_NULL_IDX) {
+                            {
+                                // Border
+                                if (mesh.polys[p + nvp + j] != RC_MESH_NULL_IDX)
+                                {
                                     continue;
                                 }
+
                                 int nj = j + 1;
-                            if (nj >= nvp || mesh.polys[p + nj] == RC_MESH_NULL_IDX) {
+                                if (nj >= nvp || mesh.polys[p + nj] == RC_MESH_NULL_IDX)
+                                {
                                     nj = 0;
                                 }
+
                                 int va = mesh.polys[p + j] * 3;
                                 int vb = mesh.polys[p + nj] * 3;
                                 Edge e = new Edge();
@@ -56,7 +72,5 @@ public class EdgeExtractor {
 
             return edges.ToArray();
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs

@@ -1,12 +1,10 @@
-
 using System.Collections.Generic;
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class EdgeSampler
-
+    {
-public class EdgeSampler {
         public readonly GroundSegment start = new GroundSegment();
         public readonly List<GroundSegment> end = new List<GroundSegment>();
         public readonly Trajectory trajectory;
@@ -15,7 +13,8 @@ public class EdgeSampler {
         public readonly float[] ay = new float[3];
         public readonly float[] az = new float[3];
 
-    public EdgeSampler(Edge edge, Trajectory trajectory) {
+        public EdgeSampler(Edge edge, Trajectory trajectory)
+        {
             this.trajectory = trajectory;
             vCopy(ax, vSub(edge.sq, edge.sp));
             vNormalize(ax);
@@ -23,7 +22,5 @@ public class EdgeSampler {
             vNormalize(az);
             vSet(ay, 0, 1, 0);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs

@@ -2,13 +2,13 @@ using System;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    class EdgeSamplerFactory
-
+    {
-class EdgeSamplerFactory {
+        public EdgeSampler get(JumpLinkBuilderConfig acfg, JumpLinkType type, Edge edge)
-
+        {
-    public EdgeSampler get(JumpLinkBuilderConfig acfg, JumpLinkType type, Edge edge) {
             EdgeSampler es = null;
-        switch (type) {
+            switch (type)
+            {
                 case JumpLinkType.EDGE_JUMP:
                     es = initEdgeJumpSampler(acfg, edge);
                     break;
@@ -19,12 +19,13 @@ class EdgeSamplerFactory {
                 default:
                     throw new ArgumentException("Unsupported jump type " + type);
             }
+
             return es;
         }
 
 
-    private EdgeSampler initEdgeJumpSampler(JumpLinkBuilderConfig acfg, Edge edge) {
+        private EdgeSampler initEdgeJumpSampler(JumpLinkBuilderConfig acfg, Edge edge)
-
+        {
             EdgeSampler es = new EdgeSampler(edge, new JumpTrajectory(acfg.jumpHeight));
             es.start.height = acfg.agentClimb * 2;
             float[] offset = new float[3];
@@ -34,10 +35,11 @@ class EdgeSamplerFactory {
 
             float dx = acfg.endDistance - 2 * acfg.agentRadius;
             float cs = acfg.cellSize;
-        int nsamples = Math.Max(2, (int) Math.Ceiling(dx / cs));
+            int nsamples = Math.Max(2, (int)Math.Ceiling(dx / cs));
 
-        for (int j = 0; j < nsamples; ++j) {
+            for (int j = 0; j < nsamples; ++j)
-            float v = (float) j / (float) (nsamples - 1);
+            {
+                float v = (float)j / (float)(nsamples - 1);
                 float ox = 2 * acfg.agentRadius + dx * v;
                 trans2d(offset, es.az, es.ay, new float[] { ox, acfg.minHeight });
                 GroundSegment end = new GroundSegment();
@@ -46,10 +48,12 @@ class EdgeSamplerFactory {
                 vadd(end.q, edge.sq, offset);
                 es.end.Add(end);
             }
+
             return es;
         }
 
-    private EdgeSampler initClimbDownSampler(JumpLinkBuilderConfig acfg, Edge edge) {
+        private EdgeSampler initClimbDownSampler(JumpLinkBuilderConfig acfg, Edge edge)
+        {
             EdgeSampler es = new EdgeSampler(edge, new ClimbTrajectory());
             es.start.height = acfg.agentClimb * 2;
             float[] offset = new float[3];
@@ -66,18 +70,18 @@ class EdgeSamplerFactory {
             return es;
         }
 
-    private void vadd(float[] dest, float[] v1, float[] v2) {
+        private void vadd(float[] dest, float[] v1, float[] v2)
+        {
             dest[0] = v1[0] + v2[0];
             dest[1] = v1[1] + v2[1];
             dest[2] = v1[2] + v2[2];
         }
 
-    private void trans2d(float[] dst, float[] ax, float[] ay, float[] pt) {
+        private void trans2d(float[] dst, float[] ax, float[] ay, float[] pt)
+        {
             dst[0] = ax[0] * pt[0] + ay[0] * pt[1];
             dst[1] = ax[1] * pt[0] + ay[1] * pt[1];
             dst[2] = ax[2] * pt[0] + ay[2] * pt[1];
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs

@@ -1,11 +1,9 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class GroundSample
-
+    {
-public class GroundSample {
         public readonly float[] p = new float[3];
         public bool validTrajectory;
         public bool validHeight;
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Jumplink/GroundSampler.cs

@@ -2,12 +2,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public interface GroundSampler
-
+    {
-public interface GroundSampler {
-
         void sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es);
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs

@@ -1,13 +1,10 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class GroundSegment
-
+    {
-public class GroundSegment {
         public readonly float[] p = new float[3];
         public readonly float[] q = new float[3];
         public GroundSample[] gsamples;
         public float height;
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs

@@ -1,9 +1,7 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class JumpLink
-
+    {
-public class JumpLink {
-
         public const int MAX_SPINE = 8;
         public readonly int nspine = MAX_SPINE;
         public readonly float[] spine0 = new float[MAX_SPINE * 3];
@@ -13,7 +11,5 @@ public class JumpLink {
         public GroundSegment start;
         public GroundSegment end;
         public Trajectory trajectory;
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs

@@ -7,10 +7,8 @@ using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class JumpLinkBuilder
-
+    {
-public class JumpLinkBuilder {
-
         private readonly EdgeExtractor edgeExtractor = new EdgeExtractor();
         private readonly EdgeSamplerFactory edgeSamplerFactory = new EdgeSamplerFactory();
         private readonly GroundSampler groundSampler = new NavMeshGroundSampler();
@@ -20,23 +18,29 @@ public class JumpLinkBuilder {
         private readonly List<Edge[]> edges;
         private readonly List<RecastBuilderResult> results;
 
-    public JumpLinkBuilder(List<RecastBuilderResult> results) {
+        public JumpLinkBuilder(List<RecastBuilderResult> results)
+        {
             this.results = results;
             edges = results.Select(r => edgeExtractor.extractEdges(r.getMesh())).ToList();
         }
 
-    public List<JumpLink> build(JumpLinkBuilderConfig acfg, JumpLinkType type) {
+        public List<JumpLink> build(JumpLinkBuilderConfig acfg, JumpLinkType type)
+        {
             List<JumpLink> links = new List<JumpLink>();
-        for (int tile = 0; tile < results.Count; tile++) {
+            for (int tile = 0; tile < results.Count; tile++)
+            {
                 Edge[] edges = this.edges[tile];
-            foreach (Edge edge in edges) {
+                foreach (Edge edge in edges)
+                {
                     links.AddRange(processEdge(acfg, results[tile], type, edge));
                 }
             }
+
             return links;
         }
 
-    private List<JumpLink> processEdge(JumpLinkBuilderConfig acfg, RecastBuilderResult result, JumpLinkType type, Edge edge) {
+        private List<JumpLink> processEdge(JumpLinkBuilderConfig acfg, RecastBuilderResult result, JumpLinkType type, Edge edge)
+        {
             EdgeSampler es = edgeSamplerFactory.get(acfg, type, edge);
             groundSampler.sample(acfg, result, es);
             trajectorySampler.sample(acfg, result.getSolidHeightfield(), es);
@@ -45,16 +49,19 @@ public class JumpLinkBuilder {
         }
 
 
-    private List<JumpLink> buildJumpLinks(JumpLinkBuilderConfig acfg, EdgeSampler es, JumpSegment[] jumpSegments) {
+        private List<JumpLink> buildJumpLinks(JumpLinkBuilderConfig acfg, EdgeSampler es, JumpSegment[] jumpSegments)
+        {
             List<JumpLink> links = new List<JumpLink>();
-        foreach (JumpSegment js in jumpSegments) {
+            foreach (JumpSegment js in jumpSegments)
+            {
                 float[] sp = es.start.gsamples[js.startSample].p;
                 float[] sq = es.start.gsamples[js.startSample + js.samples - 1].p;
                 GroundSegment end = es.end[js.groundSegment];
                 float[] ep = end.gsamples[js.startSample].p;
                 float[] eq = end.gsamples[js.startSample + js.samples - 1].p;
                 float d = Math.Min(vDist2DSqr(sp, sq), vDist2DSqr(ep, eq));
-            if (d >= 4 * acfg.agentRadius * acfg.agentRadius) {
+                if (d >= 4 * acfg.agentRadius * acfg.agentRadius)
+                {
                     JumpLink link = new JumpLink();
                     links.Add(link);
                     link.startSamples = ArrayUtils.CopyOf(es.start.gsamples, js.startSample, js.samples - js.startSample);
@@ -62,8 +69,9 @@ public class JumpLinkBuilder {
                     link.start = es.start;
                     link.end = end;
                     link.trajectory = es.trajectory;
-                for (int j = 0; j < link.nspine; ++j) {
+                    for (int j = 0; j < link.nspine; ++j)
-                    float u = ((float) j) / (link.nspine - 1);
+                    {
+                        float u = ((float)j) / (link.nspine - 1);
                         float[] p = es.trajectory.apply(sp, ep, u);
                         link.spine0[j * 3] = p[0];
                         link.spine0[j * 3 + 1] = p[1];
@@ -76,13 +84,13 @@ public class JumpLinkBuilder {
                     }
                 }
             }
+
             return links;
         }
 
-    public List<Edge[]> getEdges() {
+        public List<Edge[]> getEdges()
+        {
             return edges;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilderConfig.cs

@@ -1,9 +1,7 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class JumpLinkBuilderConfig
-
+    {
-public class JumpLinkBuilderConfig {
-
         public readonly float cellSize;
         public readonly float cellHeight;
         public readonly float agentClimb;
@@ -18,7 +16,8 @@ public class JumpLinkBuilderConfig {
 
         public JumpLinkBuilderConfig(float cellSize, float cellHeight, float agentRadius, float agentHeight,
             float agentClimb, float groundTolerance, float startDistance, float endDistance, float minHeight,
-            float maxHeight, float jumpHeight) {
+            float maxHeight, float jumpHeight)
+        {
             this.cellSize = cellSize;
             this.cellHeight = cellHeight;
             this.agentRadius = agentRadius;
@@ -31,7 +30,5 @@ public class JumpLinkBuilderConfig {
             heightRange = maxHeight - minHeight;
             this.jumpHeight = jumpHeight;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpLinkType.cs

@@ -1,8 +1,9 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public enum JumpLinkType
-
+    {
-public enum JumpLinkType {
+        EDGE_JUMP,
-    EDGE_JUMP, EDGE_CLIMB_DOWN, EDGE_JUMP_OVER
+        EDGE_CLIMB_DOWN,
-}
+        EDGE_JUMP_OVER
+    }
 }

src/DotRecast.Detour.Extras/Jumplink/JumpSegment.cs

@@ -1,11 +1,9 @@
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class JumpSegment
-
+    {
-public class JumpSegment {
         public int groundSegment;
         public int startSample;
         public int samples;
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs

@@ -1,31 +1,38 @@
 using System;
 using System.Collections.Generic;
-
 using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    class JumpSegmentBuilder
-
+    {
-class JumpSegmentBuilder {
+        public JumpSegment[] build(JumpLinkBuilderConfig acfg, EdgeSampler es)
-
+        {
-    public JumpSegment[] build(JumpLinkBuilderConfig acfg, EdgeSampler es) {
             int n = es.end[0].gsamples.Length;
             int[][] sampleGrid = ArrayUtils.Of<int>(n, es.end.Count);
-        for (int j = 0; j < es.end.Count; j++) {
+            for (int j = 0; j < es.end.Count; j++)
-            for (int i = 0; i < n; i++) {
+            {
+                for (int i = 0; i < n; i++)
+                {
                     sampleGrid[i][j] = -1;
                 }
             }
+
             // Fill connected regions
             int region = 0;
-        for (int j = 0; j < es.end.Count; j++) {
+            for (int j = 0; j < es.end.Count; j++)
-            for (int i = 0; i < n; i++) {
+            {
-                if (sampleGrid[i][j] == -1) {
+                for (int i = 0; i < n; i++)
+                {
+                    if (sampleGrid[i][j] == -1)
+                    {
                         GroundSample p = es.end[j].gsamples[i];
-                    if (!p.validTrajectory) {
+                        if (!p.validTrajectory)
+                        {
                             sampleGrid[i][j] = -2;
-                    } else {
+                        }
+                        else
+                        {
                             var queue = new Queue<int[]>();
                             queue.Enqueue(new int[] { i, j });
                             fill(es, sampleGrid, queue, acfg.agentClimb, region);
@@ -34,66 +41,90 @@ class JumpSegmentBuilder {
                     }
                 }
             }
+
             JumpSegment[] jumpSegments = new JumpSegment[region];
-        for (int i = 0; i < jumpSegments.Length; i++) {
+            for (int i = 0; i < jumpSegments.Length; i++)
+            {
                 jumpSegments[i] = new JumpSegment();
             }
+
             // Find longest segments per region
-        for (int j = 0; j < es.end.Count; j++) {
+            for (int j = 0; j < es.end.Count; j++)
+            {
                 int l = 0;
                 int r = -2;
-            for (int i = 0; i < n + 1; i++) {
+                for (int i = 0; i < n + 1; i++)
-                if (i == n || sampleGrid[i][j] != r) {
+                {
-                    if (r >= 0) {
+                    if (i == n || sampleGrid[i][j] != r)
-                        if (jumpSegments[r].samples < l) {
+                    {
+                        if (r >= 0)
+                        {
+                            if (jumpSegments[r].samples < l)
+                            {
                                 jumpSegments[r].samples = l;
                                 jumpSegments[r].startSample = i - l;
                                 jumpSegments[r].groundSegment = j;
                             }
                         }
-                    if (i < n) {
+
+                        if (i < n)
+                        {
                             r = sampleGrid[i][j];
                         }
+
                         l = 1;
-                } else {
+                    }
+                    else
+                    {
                         l++;
                     }
                 }
             }
+
             return jumpSegments;
         }
 
-    private void fill(EdgeSampler es, int[][] sampleGrid, Queue<int[]> queue, float agentClimb, int region) {
+        private void fill(EdgeSampler es, int[][] sampleGrid, Queue<int[]> queue, float agentClimb, int region)
-        while (queue.TryDequeue(out var ij)) {
+        {
+            while (queue.TryDequeue(out var ij))
+            {
                 int i = ij[0];
                 int j = ij[1];
-            if (sampleGrid[i][j] == -1) {
+                if (sampleGrid[i][j] == -1)
+                {
                     GroundSample p = es.end[j].gsamples[i];
                     sampleGrid[i][j] = region;
                     float h = p.p[1];
-                if (i < sampleGrid.Length - 1) {
+                    if (i < sampleGrid.Length - 1)
+                    {
                         addNeighbour(es, queue, agentClimb, h, i + 1, j);
                     }
-                if (i > 0) {
+
+                    if (i > 0)
+                    {
                         addNeighbour(es, queue, agentClimb, h, i - 1, j);
                     }
-                if (j < sampleGrid[0].Length - 1) {
+
+                    if (j < sampleGrid[0].Length - 1)
+                    {
                         addNeighbour(es, queue, agentClimb, h, i, j + 1);
                     }
-                if (j > 0) {
+
+                    if (j > 0)
+                    {
                         addNeighbour(es, queue, agentClimb, h, i, j - 1);
                     }
                 }
             }
         }
 
-    private void addNeighbour(EdgeSampler es, Queue<int[]> queue, float agentClimb, float h, int i, int j) {
+        private void addNeighbour(EdgeSampler es, Queue<int[]> queue, float agentClimb, float h, int i, int j)
+        {
             GroundSample q = es.end[j].gsamples[i];
-        if (q.validTrajectory && Math.Abs(q.p[1] - h) < agentClimb) {
+            if (q.validTrajectory && Math.Abs(q.p[1] - h) < agentClimb)
+            {
                 queue.Enqueue(new int[] { i, j });
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs

@@ -2,44 +2,58 @@ using System;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class JumpTrajectory : Trajectory
-
+    {
-public class JumpTrajectory : Trajectory {
-
         private readonly float jumpHeight;
 
-    public JumpTrajectory(float jumpHeight) {
+        public JumpTrajectory(float jumpHeight)
+        {
             this.jumpHeight = jumpHeight;
         }
 
-    public override float[] apply(float[] start, float[] end, float u) {
+        public override float[] apply(float[] start, float[] end, float u)
-        return new float[] { lerp(start[0], end[0], u), interpolateHeight(start[1], end[1], u),
+        {
-                lerp(start[2], end[2], u) };
+            return new float[]
+            {
+                lerp(start[0], end[0], u), interpolateHeight(start[1], end[1], u),
+                lerp(start[2], end[2], u)
+            };
         }
 
-    private float interpolateHeight(float ys, float ye, float u) {
+        private float interpolateHeight(float ys, float ye, float u)
-        if (u == 0f) {
+        {
+            if (u == 0f)
+            {
                 return ys;
-        } else if (u == 1.0f) {
+            }
+            else if (u == 1.0f)
+            {
                 return ye;
             }
+
             float h1, h2;
-        if (ys >= ye) { // jump down
+            if (ys >= ye)
+            {
+                // jump down
                 h1 = jumpHeight;
                 h2 = jumpHeight + ys - ye;
-        } else { // jump up
+            }
+            else
+            {
+                // jump up
                 h1 = jumpHeight + ys - ye;
                 h2 = jumpHeight;
             }
-        float t = (float) (Math.Sqrt(h1) / (Math.Sqrt(h2) + Math.Sqrt(h1)));
+
-        if (u <= t) {
+            float t = (float)(Math.Sqrt(h1) / (Math.Sqrt(h2) + Math.Sqrt(h1)));
+            if (u <= t)
+            {
                 float v1 = 1.0f - (u / t);
                 return ys + h1 - h1 * v1 * v1;
             }
+
             float v = (u - t) / (1.0f - t);
             return ys + h1 - h2 * v * v;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs

@@ -4,31 +4,32 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    class NavMeshGroundSampler : AbstractGroundSampler
-
+    {
-class NavMeshGroundSampler : AbstractGroundSampler {
-
         private readonly QueryFilter filter = new NoOpFilter();
 
-    private class NoOpFilter : QueryFilter {
+        private class NoOpFilter : QueryFilter
-
+        {
-        public bool passFilter(long refs, MeshTile tile, Poly poly) {
+            public bool passFilter(long refs, MeshTile tile, Poly poly)
+            {
                 return true;
             }
 
             public float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef,
-                MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly) {
+                MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly)
+            {
                 return 0;
             }
-
         }
 
-    public void sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es) {
+        public void sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es)
+        {
             NavMeshQuery navMeshQuery = createNavMesh(result, acfg.agentRadius, acfg.agentHeight, acfg.agentClimb);
             sampleGround(acfg, es, (pt, h) => getNavMeshHeight(navMeshQuery, pt, acfg.cellSize, h));
         }
 
-    private NavMeshQuery createNavMesh(RecastBuilderResult r, float agentRadius, float agentHeight, float agentClimb) {
+        private NavMeshQuery createNavMesh(RecastBuilderResult r, float agentRadius, float agentHeight, float agentClimb)
+        {
             NavMeshDataCreateParams option = new NavMeshDataCreateParams();
             option.verts = r.getMesh().verts;
             option.vertCount = r.getMesh().nverts;
@@ -69,27 +70,31 @@ class NavMeshGroundSampler : AbstractGroundSampler {
         }
 
         private Tuple<bool, float> getNavMeshHeight(NavMeshQuery navMeshQuery, float[] pt, float cs,
-            float heightRange) {
+            float heightRange)
+        {
             float[] halfExtents = new float[] { cs, heightRange, cs };
             float maxHeight = pt[1] + heightRange;
             AtomicBoolean found = new AtomicBoolean();
             AtomicFloat minHeight = new AtomicFloat(pt[1]);
-        navMeshQuery.queryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) => {
+            navMeshQuery.queryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) =>
+            {
                 Result<float> h = navMeshQuery.getPolyHeight(refs, pt);
-            if (h.succeeded()) {
+                if (h.succeeded())
+                {
                     float y = h.result;
-                if (y > minHeight.Get() && y < maxHeight) {
+                    if (y > minHeight.Get() && y < maxHeight)
+                    {
                         minHeight.Exchange(y);
                         found.set(true);
                     }
                 }
             }));
-        if (found.get()) {
+            if (found.get())
+            {
                 return Tuple.Create(true, minHeight.Get());
             }
+
             return Tuple.Create(false, pt[1]);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs

@@ -2,11 +2,10 @@ using System;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    public class Trajectory
-
+    {
-public class Trajectory {
+        public float lerp(float f, float g, float u)
-
+        {
-    public float lerp(float f, float g, float u) {
             return u * g + (1f - u) * f;
         }
 
@@ -14,7 +13,5 @@ public class Trajectory {
         {
             throw new NotImplementedException();
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs

@@ -4,77 +4,90 @@ using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-
+    class TrajectorySampler
-
+    {
-class TrajectorySampler {
+        public void sample(JumpLinkBuilderConfig acfg, Heightfield heightfield, EdgeSampler es)
-
+        {
-    public void sample(JumpLinkBuilderConfig acfg, Heightfield heightfield, EdgeSampler es) {
             int nsamples = es.start.gsamples.Length;
-        for (int i = 0; i < nsamples; ++i) {
+            for (int i = 0; i < nsamples; ++i)
+            {
                 GroundSample ssmp = es.start.gsamples[i];
-            foreach (GroundSegment end in es.end) {
+                foreach (GroundSegment end in es.end)
+                {
                     GroundSample esmp = end.gsamples[i];
-                if (!ssmp.validHeight || !esmp.validHeight) {
+                    if (!ssmp.validHeight || !esmp.validHeight)
+                    {
                         continue;
                     }
 
-                if (!sampleTrajectory(acfg, heightfield, ssmp.p, esmp.p, es.trajectory)) {
+                    if (!sampleTrajectory(acfg, heightfield, ssmp.p, esmp.p, es.trajectory))
+                    {
                         continue;
                     }
+
                     ssmp.validTrajectory = true;
                     esmp.validTrajectory = true;
                 }
             }
         }
 
-    private bool sampleTrajectory(JumpLinkBuilderConfig acfg, Heightfield solid, float[] pa, float[] pb, Trajectory tra) {
+        private bool sampleTrajectory(JumpLinkBuilderConfig acfg, Heightfield solid, float[] pa, float[] pb, Trajectory tra)
+        {
             float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
             float d = vDist2D(pa, pb) + Math.Abs(pa[1] - pb[1]);
-        int nsamples = Math.Max(2, (int) Math.Ceiling(d / cs));
+            int nsamples = Math.Max(2, (int)Math.Ceiling(d / cs));
-        for (int i = 0; i < nsamples; ++i) {
+            for (int i = 0; i < nsamples; ++i)
-            float u = (float) i / (float) (nsamples - 1);
+            {
+                float u = (float)i / (float)(nsamples - 1);
                 float[] p = tra.apply(pa, pb, u);
-            if (checkHeightfieldCollision(solid, p[0], p[1] + acfg.groundTolerance, p[1] + acfg.agentHeight, p[2])) {
+                if (checkHeightfieldCollision(solid, p[0], p[1] + acfg.groundTolerance, p[1] + acfg.agentHeight, p[2]))
+                {
                     return false;
                 }
             }
+
             return true;
         }
 
-    private bool checkHeightfieldCollision(Heightfield solid, float x, float ymin, float ymax, float z) {
+        private bool checkHeightfieldCollision(Heightfield solid, float x, float ymin, float ymax, float z)
+        {
             int w = solid.width;
             int h = solid.height;
             float cs = solid.cs;
             float ch = solid.ch;
             float[] orig = solid.bmin;
-        int ix = (int) Math.Floor((x - orig[0]) / cs);
+            int ix = (int)Math.Floor((x - orig[0]) / cs);
-        int iz = (int) Math.Floor((z - orig[2]) / cs);
+            int iz = (int)Math.Floor((z - orig[2]) / cs);
 
-        if (ix < 0 || iz < 0 || ix > w || iz > h) {
+            if (ix < 0 || iz < 0 || ix > w || iz > h)
+            {
                 return false;
             }
 
             Span s = solid.spans[ix + iz * w];
-        if (s == null) {
+            if (s == null)
+            {
                 return false;
             }
 
-        while (s != null) {
+            while (s != null)
+            {
                 float symin = orig[1] + s.smin * ch;
                 float symax = orig[1] + s.smax * ch;
-            if (overlapRange(ymin, ymax, symin, symax)) {
+                if (overlapRange(ymin, ymax, symin, symax))
+                {
                     return true;
                 }
+
                 s = s.next;
             }
 
             return false;
         }
 
-    private bool overlapRange(float amin, float amax, float bmin, float bmax) {
+        private bool overlapRange(float amin, float amax, float bmin, float bmax)
+        {
             return (amin > bmax || amax < bmin) ? false : true;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/ObjExporter.cs

@@ -20,35 +20,44 @@ using System.IO;
 
 namespace DotRecast.Detour.Extras
 {
-
+    public class ObjExporter
-
+    {
-public class ObjExporter {
+        public void export(NavMesh mesh)
-
+        {
-    public void export(NavMesh mesh) {
             string filename = Path.Combine(Directory.GetCurrentDirectory(), "Demo", "astar.obj");
             using var fs = new FileStream(filename, FileMode.CreateNew);
             using var fw = new StreamWriter(fs);
-        for (int i = 0; i < mesh.getTileCount(); i++) {
+            for (int i = 0; i < mesh.getTileCount(); i++)
+            {
                 MeshTile tile = mesh.getTile(i);
-            if (tile != null) {
+                if (tile != null)
-                for (int v = 0; v < tile.data.header.vertCount; v++) {
+                {
+                    for (int v = 0; v < tile.data.header.vertCount; v++)
+                    {
                         fw.Write("v " + tile.data.verts[v * 3] + " " + tile.data.verts[v * 3 + 1] + " "
                                  + tile.data.verts[v * 3 + 2] + "\n");
                     }
                 }
             }
+
             int vertexOffset = 1;
-        for (int i = 0; i < mesh.getTileCount(); i++) {
+            for (int i = 0; i < mesh.getTileCount(); i++)
+            {
                 MeshTile tile = mesh.getTile(i);
-            if (tile != null) {
+                if (tile != null)
-                for (int p = 0; p < tile.data.header.polyCount; p++) {
+                {
+                    for (int p = 0; p < tile.data.header.polyCount; p++)
+                    {
                         fw.Write("f ");
                         Poly poly = tile.data.polys[p];
-                    for (int v = 0; v < poly.vertCount; v++) {
+                        for (int v = 0; v < poly.vertCount; v++)
+                        {
                             fw.Write(poly.verts[v] + vertexOffset + " ");
                         }
+
                         fw.Write("\n");
                     }
+
                     vertexOffset += tile.data.header.vertCount;
                 }
             }
@@ -63,6 +72,5 @@ public class ObjExporter {
     
     
          */
-}
+    }
-
 }

src/DotRecast.Detour.Extras/PolyUtils.cs

@@ -15,70 +15,85 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras
 {
-
+    public class PolyUtils
-
+    {
-public class PolyUtils {
-
         /**
      * Find edge shared by 2 polygons within the same tile
      */
-    public static int findEdge(Poly node, Poly neighbour, MeshData tile, MeshData neighbourTile) {
+        public static int findEdge(Poly node, Poly neighbour, MeshData tile, MeshData neighbourTile)
+        {
             // Compare indices first assuming there are no duplicate vertices
-        for (int i = 0; i < node.vertCount; i++) {
+            for (int i = 0; i < node.vertCount; i++)
+            {
                 int j = (i + 1) % node.vertCount;
-            for (int k = 0; k < neighbour.vertCount; k++) {
+                for (int k = 0; k < neighbour.vertCount; k++)
+                {
                     int l = (k + 1) % neighbour.vertCount;
                     if ((node.verts[i] == neighbour.verts[l] && node.verts[j] == neighbour.verts[k])
-                        || (node.verts[i] == neighbour.verts[k] && node.verts[j] == neighbour.verts[l])) {
+                        || (node.verts[i] == neighbour.verts[k] && node.verts[j] == neighbour.verts[l]))
+                    {
                         return i;
                     }
                 }
             }
+
             // Fall back to comparing actual positions in case of duplicate vertices
-        for (int i = 0; i < node.vertCount; i++) {
+            for (int i = 0; i < node.vertCount; i++)
+            {
                 int j = (i + 1) % node.vertCount;
-            for (int k = 0; k < neighbour.vertCount; k++) {
+                for (int k = 0; k < neighbour.vertCount; k++)
+                {
                     int l = (k + 1) % neighbour.vertCount;
                     if ((samePosition(tile.verts, node.verts[i], neighbourTile.verts, neighbour.verts[l])
                          && samePosition(tile.verts, node.verts[j], neighbourTile.verts, neighbour.verts[k]))
                         || (samePosition(tile.verts, node.verts[i], neighbourTile.verts, neighbour.verts[k])
-                                && samePosition(tile.verts, node.verts[j], neighbourTile.verts, neighbour.verts[l]))) {
+                            && samePosition(tile.verts, node.verts[j], neighbourTile.verts, neighbour.verts[l])))
+                    {
                         return i;
                     }
                 }
             }
+
             return -1;
         }
 
-    private static bool samePosition(float[] verts, int v, float[] verts2, int v2) {
+        private static bool samePosition(float[] verts, int v, float[] verts2, int v2)
-        for (int i = 0; i < 3; i++) {
+        {
-            if (verts[3 * v + i] != verts2[3 * v2 + 1]) {
+            for (int i = 0; i < 3; i++)
+            {
+                if (verts[3 * v + i] != verts2[3 * v2 + 1])
+                {
                     return false;
                 }
             }
+
             return true;
         }
 
         /**
      * Find edge closest to the given coordinate
      */
-    public static int findEdge(Poly node, MeshData tile, float value, int comp) {
+        public static int findEdge(Poly node, MeshData tile, float value, int comp)
+        {
             float error = float.MaxValue;
             int edge = 0;
-        for (int i = 0; i < node.vertCount; i++) {
+            for (int i = 0; i < node.vertCount; i++)
+            {
                 int j = (i + 1) % node.vertCount;
                 float v1 = tile.verts[3 * node.verts[i] + comp] - value;
                 float v2 = tile.verts[3 * node.verts[j] + comp] - value;
                 float d = v1 * v1 + v2 * v2;
-            if (d < error) {
+                if (d < error)
+                {
                     error = d;
                     edge = i;
                 }
             }
+
             return edge;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs

@@ -15,20 +15,19 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class BVTreeCreator
-
+    {
-public class BVTreeCreator {
-
         private readonly BVTreeBuilder builder = new BVTreeBuilder();
 
-    public void build(GraphMeshData graphData) {
+        public void build(GraphMeshData graphData)
-        foreach (MeshData d in graphData.tiles) {
+        {
+            foreach (MeshData d in graphData.tiles)
+            {
                 builder.build(d);
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs

@@ -22,30 +22,31 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    class GraphConnectionReader : ZipBinaryReader
-
+    {
-class GraphConnectionReader : ZipBinaryReader {
+        public List<int[]> read(ZipArchive file, string filename, Meta meta, int[] indexToNode)
-
+        {
-    public List<int[]> read(ZipArchive file, string filename, Meta meta, int[] indexToNode) {
             List<int[]> connections = new List<int[]>();
             ByteBuffer buffer = toByteBuffer(file, filename);
-        while (buffer.remaining() > 0) {
+            while (buffer.remaining() > 0)
+            {
                 int count = buffer.getInt();
                 int[] nodeConnections = new int[count];
                 connections.Add(nodeConnections);
-            for (int i = 0; i < count; i++) {
+                for (int i = 0; i < count; i++)
+                {
                     int nodeIndex = buffer.getInt();
                     nodeConnections[i] = indexToNode[nodeIndex];
                     // XXX: Is there anything we can do with the cost?
                     int cost = buffer.getInt();
-                if (meta.isVersionAtLeast(Meta.UPDATED_STRUCT_VERSION)) {
+                    if (meta.isVersionAtLeast(Meta.UPDATED_STRUCT_VERSION))
+                    {
                         byte shapeEdge = buffer.get();
                     }
                 }
             }
+
             return connections;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs

@@ -20,12 +20,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class GraphData
-
+    {
-
-
-public class GraphData {
-
         public readonly Meta meta;
         public readonly int[] indexToNode;
         public readonly NodeLink2[] nodeLinks2;
@@ -34,7 +30,8 @@ public class GraphData {
         public readonly List<List<int[]>> graphConnections;
 
         public GraphData(Meta meta, int[] indexToNode, NodeLink2[] nodeLinks2, List<GraphMeta> graphMeta,
-            List<GraphMeshData> graphMeshData, List<List<int[]>> graphConnections) {
+            List<GraphMeshData> graphMeshData, List<List<int[]>> graphConnections)
+        {
             this.meta = meta;
             this.indexToNode = indexToNode;
             this.nodeLinks2 = nodeLinks2;
@@ -42,7 +39,5 @@ public class GraphData {
             this.graphMeshData = graphMeshData;
             this.graphConnections = graphConnections;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs

@@ -15,52 +15,63 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class GraphMeshData
-
+    {
-public class GraphMeshData {
-
         public readonly int tileXCount;
         public readonly int tileZCount;
         public readonly MeshData[] tiles;
 
-    public GraphMeshData(int tileXCount, int tileZCount, MeshData[] tiles) {
+        public GraphMeshData(int tileXCount, int tileZCount, MeshData[] tiles)
+        {
             this.tileXCount = tileXCount;
             this.tileZCount = tileZCount;
             this.tiles = tiles;
         }
 
-    public int countNodes() {
+        public int countNodes()
+        {
             int polyCount = 0;
-        foreach (MeshData t in tiles) {
+            foreach (MeshData t in tiles)
+            {
                 polyCount += t.header.polyCount;
             }
+
             return polyCount;
         }
 
-    public Poly getNode(int node) {
+        public Poly getNode(int node)
+        {
             int index = 0;
-        foreach (MeshData t in tiles) {
+            foreach (MeshData t in tiles)
-            if (node - index >= 0 && node - index < t.header.polyCount) {
+            {
+                if (node - index >= 0 && node - index < t.header.polyCount)
+                {
                     return t.polys[node - index];
                 }
+
                 index += t.header.polyCount;
             }
+
             return null;
         }
 
-    public MeshData getTile(int node) {
+        public MeshData getTile(int node)
+        {
             int index = 0;
-        foreach (MeshData t in tiles) {
+            foreach (MeshData t in tiles)
-            if (node - index >= 0 && node - index < t.header.polyCount) {
+            {
+                if (node - index >= 0 && node - index < t.header.polyCount)
+                {
                     return t;
                 }
+
                 index += t.header.polyCount;
             }
+
             return null;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs

@@ -23,26 +23,30 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class GraphMeshDataReader : ZipBinaryReader
-
+    {
-public class GraphMeshDataReader : ZipBinaryReader {
-
         public const float INT_PRECISION_FACTOR = 1000f;
 
-    public GraphMeshData read(ZipArchive file, string filename, GraphMeta meta, int maxVertPerPoly) {
+        public GraphMeshData read(ZipArchive file, string filename, GraphMeta meta, int maxVertPerPoly)
+        {
             ByteBuffer buffer = toByteBuffer(file, filename);
             int tileXCount = buffer.getInt();
-        if (tileXCount < 0) {
+            if (tileXCount < 0)
+            {
                 return null;
             }
+
             int tileZCount = buffer.getInt();
             MeshData[] tiles = new MeshData[tileXCount * tileZCount];
-        for (int z = 0; z < tileZCount; z++) {
+            for (int z = 0; z < tileZCount; z++)
-            for (int x = 0; x < tileXCount; x++) {
+            {
+                for (int x = 0; x < tileXCount; x++)
+                {
                     int tileIndex = x + z * tileXCount;
                     int tx = buffer.getInt();
                     int tz = buffer.getInt();
-                if (tx != x || tz != z) {
+                    if (tx != x || tz != z)
+                    {
                         throw new ArgumentException("Inconsistent tile positions");
                     }
 
@@ -52,18 +56,21 @@ public class GraphMeshDataReader : ZipBinaryReader {
 
                     int trisCount = buffer.getInt();
                     int[] tris = new int[trisCount];
-                for (int i = 0; i < tris.Length; i++) {
+                    for (int i = 0; i < tris.Length; i++)
+                    {
                         tris[i] = buffer.getInt();
                     }
 
                     int vertsCount = buffer.getInt();
                     float[] verts = new float[3 * vertsCount];
-                for (int i = 0; i < verts.Length; i++) {
+                    for (int i = 0; i < verts.Length; i++)
+                    {
                         verts[i] = buffer.getInt() / INT_PRECISION_FACTOR;
                     }
 
                     int[] vertsInGraphSpace = new int[3 * buffer.getInt()];
-                for (int i = 0; i < vertsInGraphSpace.Length; i++) {
+                    for (int i = 0; i < vertsInGraphSpace.Length; i++)
+                    {
                         vertsInGraphSpace[i] = buffer.getInt();
                     }
 
@@ -75,7 +82,8 @@ public class GraphMeshDataReader : ZipBinaryReader {
                     int vertMask = getVertMask(vertsCount);
                     float ymin = float.PositiveInfinity;
                     float ymax = float.NegativeInfinity;
-                for (int i = 0; i < nodes.Length; i++) {
+                    for (int i = 0; i < nodes.Length; i++)
+                    {
                         nodes[i] = new Poly(i, maxVertPerPoly);
                         nodes[i].vertCount = 3;
                         // XXX: What can we do with the penalty?
@@ -136,6 +144,7 @@ public class GraphMeshDataReader : ZipBinaryReader {
                     tiles[tileIndex].header = header;
                 }
             }
+
             return new GraphMeshData(tileXCount, tileZCount, tiles);
         }
 
@@ -153,13 +162,13 @@ public class GraphMeshDataReader : ZipBinaryReader {
         private int getVertMask(int vertsCount)
         {
             int vertMask = highestOneBit((uint)vertsCount);
-        if (vertMask != vertsCount) {
+            if (vertMask != vertsCount)
+            {
                 vertMask *= 2;
             }
+
             vertMask--;
             return vertMask;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs

@@ -15,29 +15,29 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    public class GraphMeta
+    {
+        public float characterRadius { get; set; }
+        public float contourMaxError { get; set; }
+        public float cellSize { get; set; }
+        public float walkableHeight { get; set; }
+        public float walkableClimb { get; set; }
+        public float maxSlope { get; set; }
+        public float maxEdgeLength { get; set; }
+        public float minRegionSize { get; set; }
 
-
-
-
-public class GraphMeta {
-    public float characterRadius {get;set;}
-    public float contourMaxError {get;set;}
-    public float cellSize {get;set;}
-    public float walkableHeight {get;set;}
-    public float walkableClimb {get;set;}
-    public float maxSlope {get;set;}
-    public float maxEdgeLength {get;set;}
-    public float minRegionSize {get;set;}
         /** Size of tile along X axis in voxels */
         public float tileSizeX { get; set; }
+
         /** Size of tile along Z axis in voxels */
         public float tileSizeZ { get; set; }
+
         public bool useTiles { get; set; }
         public Vector3f rotation { get; set; }
         public Vector3f forcedBoundsCenter { get; set; }
         public Vector3f forcedBoundsSize { get; set; }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs

@@ -22,21 +22,20 @@ using System.Text.Json;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class GraphMetaReader
-
+    {
-public class GraphMetaReader {
+        public GraphMeta read(ZipArchive file, string filename)
-
+        {
-    public GraphMeta read(ZipArchive file, string filename) {
             ZipArchiveEntry entry = file.GetEntry(filename);
             using StreamReader reader = new StreamReader(entry.Open());
 
-        JsonSerializerOptions options = new JsonSerializerOptions {
+            JsonSerializerOptions options = new JsonSerializerOptions
+            {
                 PropertyNamingPolicy = JsonNamingPolicy.CamelCase
             };
 
             var json = reader.ReadToEnd();
             return JsonSerializer.Deserialize<GraphMeta>(json, options);
         }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs

@@ -21,21 +21,25 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class LinkBuilder
-
+    {
-public class LinkBuilder {
-
         // Process connections and transform them into recast neighbour flags
-    public void build(int nodeOffset, GraphMeshData graphData, List<int[]> connections) {
+        public void build(int nodeOffset, GraphMeshData graphData, List<int[]> connections)
-        for (int n = 0; n < connections.Count; n++) {
+        {
+            for (int n = 0; n < connections.Count; n++)
+            {
                 int[] nodeConnections = connections[n];
                 MeshData tile = graphData.getTile(n);
                 Poly node = graphData.getNode(n);
-            foreach (int connection in nodeConnections) {
+                foreach (int connection in nodeConnections)
+                {
                     MeshData neighbourTile = graphData.getTile(connection - nodeOffset);
-                if (neighbourTile != tile) {
+                    if (neighbourTile != tile)
+                    {
                         buildExternalLink(tile, node, neighbourTile);
-                } else {
+                    }
+                    else
+                    {
                         Poly neighbour = graphData.getNode(connection - nodeOffset);
                         buildInternalLink(tile, node, neighbourTile, neighbour);
                     }
@@ -43,28 +47,38 @@ public class LinkBuilder {
             }
         }
 
-    private void buildInternalLink(MeshData tile, Poly node, MeshData neighbourTile, Poly neighbour) {
+        private void buildInternalLink(MeshData tile, Poly node, MeshData neighbourTile, Poly neighbour)
+        {
             int edge = PolyUtils.findEdge(node, neighbour, tile, neighbourTile);
-        if (edge >= 0) {
+            if (edge >= 0)
+            {
                 node.neis[edge] = neighbour.index + 1;
-        } else {
+            }
+            else
+            {
                 throw new ArgumentException();
             }
         }
 
         // In case of external link to other tiles we must find the direction
-    private void buildExternalLink(MeshData tile, Poly node, MeshData neighbourTile) {
+        private void buildExternalLink(MeshData tile, Poly node, MeshData neighbourTile)
-        if (neighbourTile.header.bmin[0] > tile.header.bmin[0]) {
+        {
+            if (neighbourTile.header.bmin[0] > tile.header.bmin[0])
+            {
                 node.neis[PolyUtils.findEdge(node, tile, neighbourTile.header.bmin[0], 0)] = NavMesh.DT_EXT_LINK;
-        } else if (neighbourTile.header.bmin[0] < tile.header.bmin[0]) {
+            }
+            else if (neighbourTile.header.bmin[0] < tile.header.bmin[0])
+            {
                 node.neis[PolyUtils.findEdge(node, tile, tile.header.bmin[0], 0)] = NavMesh.DT_EXT_LINK | 4;
-        } else if (neighbourTile.header.bmin[2] > tile.header.bmin[2]) {
+            }
+            else if (neighbourTile.header.bmin[2] > tile.header.bmin[2])
+            {
                 node.neis[PolyUtils.findEdge(node, tile, neighbourTile.header.bmin[2], 2)] = NavMesh.DT_EXT_LINK | 2;
-        } else {
+            }
+            else
+            {
                 node.neis[PolyUtils.findEdge(node, tile, tile.header.bmin[2], 2)] = NavMesh.DT_EXT_LINK | 6;
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs

@@ -21,10 +21,8 @@ using System.Text.RegularExpressions;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class Meta
-
+    {
-public class Meta {
-
         public const string TYPENAME_RECAST_GRAPH = "Pathfinding.RecastGraph";
         public const string MIN_SUPPORTED_VERSION = "4.0.6";
         public const string UPDATED_STRUCT_VERSION = "4.1.16";
@@ -34,44 +32,58 @@ public class Meta {
         public string[] guids { get; set; }
         public string[] typeNames { get; set; }
 
-    public bool isSupportedVersion() {
+        public bool isSupportedVersion()
+        {
             return isVersionAtLeast(MIN_SUPPORTED_VERSION);
         }
 
-    public bool isVersionAtLeast(string minVersion) {
+        public bool isVersionAtLeast(string minVersion)
+        {
             int[] actual = parseVersion(version);
             int[] minSupported = parseVersion(minVersion);
-        for (int i = 0; i < Math.Min(actual.Length, minSupported.Length); i++) {
+            for (int i = 0; i < Math.Min(actual.Length, minSupported.Length); i++)
-            if (actual[i] > minSupported[i]) {
+            {
+                if (actual[i] > minSupported[i])
+                {
                     return true;
-            } else if (minSupported[i] > actual[i]) {
+                }
+                else if (minSupported[i] > actual[i])
+                {
                     return false;
                 }
             }
+
             return true;
         }
 
-    private int[] parseVersion(string version) {
+        private int[] parseVersion(string version)
+        {
             Match m = VERSION_PATTERN.Match(version);
-        if (m.Success) {
+            if (m.Success)
+            {
                 int[] v = new int[m.Groups.Count - 1];
-            for (int i = 0; i < v.Length; i++) {
+                for (int i = 0; i < v.Length; i++)
+                {
                     v[i] = int.Parse(m.Groups[i + 1].Value);
                 }
+
                 return v;
             }
+
             throw new ArgumentException("Invalid version format: " + version);
         }
 
-    public bool isSupportedType() {
+        public bool isSupportedType()
-        foreach (string t in typeNames) {
+        {
-            if (t == TYPENAME_RECAST_GRAPH) {
+            foreach (string t in typeNames)
+            {
+                if (t == TYPENAME_RECAST_GRAPH)
+                {
                     return true;
                 }
             }
+
             return false;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs

@@ -25,16 +25,14 @@ using System.Text.RegularExpressions;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class MetaReader
-
+    {
-public class MetaReader {
+        public Meta read(ZipArchive file, string filename)
-
+        {
-    public Meta read(ZipArchive file, string filename) {
             ZipArchiveEntry entry = file.GetEntry(filename);
             using StreamReader reader = new StreamReader(entry.Open());
 
 
-
             var json = reader.ReadToEnd();
 
             // fixed : version 표기는 문자열이여야 한다
@@ -44,15 +42,17 @@ public class MetaReader {
             json = regex.Replace(json, replacement);
 
             var meta = JsonSerializer.Deserialize<Meta>(json);
-        if (!meta.isSupportedType()) {
+            if (!meta.isSupportedType())
+            {
                 throw new ArgumentException("Unsupported graph type " + string.Join(", ", meta.typeNames));
             }
-        if (!meta.isSupportedVersion()) {
+
+            if (!meta.isSupportedVersion())
+            {
                 throw new ArgumentException("Unsupported version " + meta.version);
             }
+
             return meta;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs

@@ -21,22 +21,21 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    class NodeIndexReader : ZipBinaryReader
-
+    {
-class NodeIndexReader : ZipBinaryReader {
+        public int[] read(ZipArchive file, string filename)
-
+        {
-    public int[] read(ZipArchive file, string filename) {
             ByteBuffer buffer = toByteBuffer(file, filename);
             int maxNodeIndex = buffer.getInt();
             int[] int2Node = new int[maxNodeIndex + 1];
             int node = 0;
-        while (buffer.remaining() > 0) {
+            while (buffer.remaining() > 0)
+            {
                 int index = buffer.getInt();
                 int2Node[index] = node++;
             }
+
             return int2Node;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs

@@ -15,25 +15,24 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class NodeLink2
-
+    {
-public class NodeLink2 {
         public readonly long linkID;
         public readonly int startNode;
         public readonly int endNode;
         public readonly Vector3f clamped1;
         public readonly Vector3f clamped2;
 
-    public NodeLink2(long linkID, int startNode, int endNode, Vector3f clamped1, Vector3f clamped2) : base() {
+        public NodeLink2(long linkID, int startNode, int endNode, Vector3f clamped1, Vector3f clamped2) : base()
+        {
             this.linkID = linkID;
             this.startNode = startNode;
             this.endNode = endNode;
             this.clamped1 = clamped1;
             this.clamped2 = clamped2;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs

@@ -21,15 +21,15 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class NodeLink2Reader : ZipBinaryReader
-
+    {
-public class NodeLink2Reader : ZipBinaryReader {
+        public NodeLink2[] read(ZipArchive file, string filename, int[] indexToNode)
-
+        {
-    public NodeLink2[] read(ZipArchive file, string filename, int[] indexToNode) {
             ByteBuffer buffer = toByteBuffer(file, filename);
             int linkCount = buffer.getInt();
             NodeLink2[] links = new NodeLink2[linkCount];
-        for (int i = 0; i < linkCount; i++) {
+            for (int i = 0; i < linkCount; i++)
+            {
                 long linkID = buffer.getLong();
                 int startNode = indexToNode[buffer.getInt()];
                 int endNode = indexToNode[buffer.getInt()];
@@ -46,8 +46,8 @@ public class NodeLink2Reader : ZipBinaryReader {
                 bool postScanCalled = buffer.get() != 0;
                 links[i] = new NodeLink2(linkID, startNode, endNode, clamped1, clamped2);
             }
+
             return links;
         }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs

@@ -20,18 +20,20 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class OffMeshLinkCreator
-
+    {
-public class OffMeshLinkCreator {
+        public void build(GraphMeshData graphData, NodeLink2[] links, int nodeOffset)
-
+        {
-    public void build(GraphMeshData graphData, NodeLink2[] links, int nodeOffset) {
+            if (links.Length > 0)
-        if (links.Length > 0) {
+            {
-            foreach (NodeLink2 l in links) {
+                foreach (NodeLink2 l in links)
+                {
                     MeshData startTile = graphData.getTile(l.startNode - nodeOffset);
                     Poly startNode = graphData.getNode(l.startNode - nodeOffset);
                     MeshData endTile = graphData.getTile(l.endNode - nodeOffset);
                     Poly endNode = graphData.getNode(l.endNode - nodeOffset);
-                if (startNode != null && endNode != null) {
+                    if (startNode != null && endNode != null)
+                    {
                         // FIXME: Optimise
                         startTile.polys = ArrayUtils.CopyOf(startTile.polys, startTile.polys.Length + 1);
                         int poly = startTile.header.polyCount;
@@ -44,24 +46,31 @@ public class OffMeshLinkCreator {
                         startTile.header.vertCount += 2;
                         OffMeshConnection connection = new OffMeshConnection();
                         connection.poly = poly;
-                    connection.pos = new float[] { l.clamped1.x, l.clamped1.y, l.clamped1.z, l.clamped2.x, l.clamped2.y,
+                        connection.pos = new float[]
-                            l.clamped2.z };
+                        {
+                            l.clamped1.x, l.clamped1.y, l.clamped1.z, l.clamped2.x, l.clamped2.y,
+                            l.clamped2.z
+                        };
                         connection.rad = 0.1f;
-                    connection.side = startTile == endTile ? 0xFF
+                        connection.side = startTile == endTile
+                            ? 0xFF
                             : NavMeshBuilder.classifyOffMeshPoint(new VectorPtr(connection.pos, 3),
                                 startTile.header.bmin, startTile.header.bmax);
-                    connection.userId = (int) l.linkID;
+                        connection.userId = (int)l.linkID;
-                    if (startTile.offMeshCons == null) {
+                        if (startTile.offMeshCons == null)
+                        {
                             startTile.offMeshCons = new OffMeshConnection[1];
-                    } else {
+                        }
+                        else
+                        {
                             startTile.offMeshCons = ArrayUtils.CopyOf(startTile.offMeshCons, startTile.offMeshCons.Length + 1);
                         }
+
                         startTile.offMeshCons[startTile.offMeshCons.Length - 1] = connection;
                         startTile.header.offMeshConCount++;
                     }
                 }
             }
         }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs

@@ -22,34 +22,36 @@ using System.IO;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    /**
-
-/**
  * Import navmeshes created with A* Pathfinding Project Unity plugin (https://arongranberg.com/astar/). Graph data is
  * loaded from a zip archive and converted to Recast navmesh objects.
  */
-public class UnityAStarPathfindingImporter {
+    public class UnityAStarPathfindingImporter
-
+    {
         private readonly UnityAStarPathfindingReader reader = new UnityAStarPathfindingReader();
         private readonly BVTreeCreator bvTreeCreator = new BVTreeCreator();
         private readonly LinkBuilder linkCreator = new LinkBuilder();
         private readonly OffMeshLinkCreator offMeshLinkCreator = new OffMeshLinkCreator();
 
-    public NavMesh[] load(FileStream zipFile) {
+        public NavMesh[] load(FileStream zipFile)
+        {
             GraphData graphData = reader.read(zipFile);
             Meta meta = graphData.meta;
             NodeLink2[] nodeLinks2 = graphData.nodeLinks2;
             NavMesh[] meshes = new NavMesh[meta.graphs];
             int nodeOffset = 0;
-        for (int graphIndex = 0; graphIndex < meta.graphs; graphIndex++) {
+            for (int graphIndex = 0; graphIndex < meta.graphs; graphIndex++)
+            {
                 GraphMeta graphMeta = graphData.graphMeta[graphIndex];
                 GraphMeshData graphMeshData = graphData.graphMeshData[graphIndex];
                 List<int[]> connections = graphData.graphConnections[graphIndex];
                 int nodeCount = graphMeshData.countNodes();
-            if (connections.Count != nodeCount) {
+                if (connections.Count != nodeCount)
+                {
                     throw new ArgumentException("Inconsistent number of nodes in data file: " + nodeCount
                                                                                               + " and connecton files: " + connections.Count);
                 }
+
                 // Build BV tree
                 bvTreeCreator.build(graphMeshData);
                 // Create links between nodes (both internal and portals between tiles)
@@ -65,15 +67,16 @@ public class UnityAStarPathfindingImporter {
                 option.orig[1] = -0.5f * graphMeta.forcedBoundsSize.y + graphMeta.forcedBoundsCenter.y;
                 option.orig[2] = -0.5f * graphMeta.forcedBoundsSize.z + graphMeta.forcedBoundsCenter.z;
                 NavMesh mesh = new NavMesh(option, 3);
-            foreach (MeshData t in graphMeshData.tiles) {
+                foreach (MeshData t in graphMeshData.tiles)
+                {
                     mesh.addTile(t, 0, 0);
                 }
+
                 meshes[graphIndex] = mesh;
                 nodeOffset += graphMeshData.countNodes();
             }
+
             return meshes;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs

@@ -22,10 +22,8 @@ using System.IO.Compression;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public class UnityAStarPathfindingReader
-
+    {
-public class UnityAStarPathfindingReader {
-
         private const string META_FILE_NAME = "meta.json";
         private const string NODE_INDEX_FILE_NAME = "graph_references.binary";
         private const string NODE_LINK_2_FILE_NAME = "node_link2.binary";
@@ -40,7 +38,8 @@ public class UnityAStarPathfindingReader {
         private readonly GraphConnectionReader graphConnectionReader = new GraphConnectionReader();
         private readonly NodeLink2Reader nodeLink2Reader = new NodeLink2Reader();
 
-    public GraphData read(FileStream zipFile) {
+        public GraphData read(FileStream zipFile)
+        {
             using ZipArchive file = new ZipArchive(zipFile);
             // Read meta file and check version and graph type
             Meta meta = metaReader.read(file, META_FILE_NAME);
@@ -52,7 +51,8 @@ public class UnityAStarPathfindingReader {
             List<GraphMeta> metaList = new List<GraphMeta>();
             List<GraphMeshData> meshDataList = new List<GraphMeshData>();
             List<List<int[]>> connectionsList = new List<List<int[]>>();
-        for (int graphIndex = 0; graphIndex < meta.graphs; graphIndex++) {
+            for (int graphIndex = 0; graphIndex < meta.graphs; graphIndex++)
+            {
                 GraphMeta graphMeta = graphMetaReader.read(file, string.Format(GRAPH_META_FILE_NAME_PATTERN, graphIndex));
                 // First graph mesh data - vertices and polygons
                 GraphMeshData graphData = graphDataReader.read(file,
@@ -64,8 +64,8 @@ public class UnityAStarPathfindingReader {
                 meshDataList.Add(graphData);
                 connectionsList.Add(connections);
             }
+
             return new GraphData(meta, indexToNode, nodeLinks2, metaList, meshDataList, connectionsList);
         }
-}
+    }
-
 }

src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs

@@ -23,11 +23,10 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-
+    public abstract class ZipBinaryReader
-
+    {
-public abstract class ZipBinaryReader {
+        protected ByteBuffer toByteBuffer(ZipArchive file, string filename)
-
+        {
-    protected ByteBuffer toByteBuffer(ZipArchive file, string filename) {
             ZipArchiveEntry graphReferences = file.GetEntry(filename);
             using var entryStream = graphReferences.Open();
             using var bis = new BinaryReader(entryStream);
@@ -35,7 +34,5 @@ public abstract class ZipBinaryReader {
             buffer.order(ByteOrder.LITTLE_ENDIAN);
             return buffer;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.Extras/Vector3f.cs

@@ -15,25 +15,24 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Extras
 {
-
+    public class Vector3f
-
+    {
-public class Vector3f {
-
         public float x { get; set; }
         public float y { get; set; }
         public float z { get; set; }
 
-    public Vector3f() {
+        public Vector3f()
+        {
         }
 
-    public Vector3f(float x, float y, float z) {
+        public Vector3f(float x, float y, float z)
+        {
             this.x = x;
             this.y = y;
             this.z = z;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/AbstractTileLayersBuilder.cs

@@ -27,35 +27,44 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache
 {
-
+    public abstract class AbstractTileLayersBuilder
-
+    {
-public abstract class AbstractTileLayersBuilder {
+        protected List<byte[]> build(ByteOrder order, bool cCompatibility, int threads, int tw, int th)
-
+        {
-    protected List<byte[]> build(ByteOrder order, bool cCompatibility, int threads, int tw, int th) {
+            if (threads == 1)
-        if (threads == 1) {
+            {
                 return buildSingleThread(order, cCompatibility, tw, th);
             }
+
             return buildMultiThread(order, cCompatibility, tw, th, threads);
         }
 
-    private List<byte[]> buildSingleThread(ByteOrder order, bool cCompatibility, int tw, int th) {
+        private List<byte[]> buildSingleThread(ByteOrder order, bool cCompatibility, int tw, int th)
+        {
             List<byte[]> layers = new List<byte[]>();
-        for (int y = 0; y < th; ++y) {
+            for (int y = 0; y < th; ++y)
-            for (int x = 0; x < tw; ++x) {
+            {
+                for (int x = 0; x < tw; ++x)
+                {
                     layers.AddRange(build(x, y, order, cCompatibility));
                 }
             }
+
             return layers;
         }
 
-    private List<byte[]> buildMultiThread(ByteOrder order, bool cCompatibility, int tw, int th, int threads) {
+        private List<byte[]> buildMultiThread(ByteOrder order, bool cCompatibility, int tw, int th, int threads)
+        {
             var tasks = new ConcurrentQueue<Task<Tuple<int, int, List<byte[]>>>>();
-        for (int y = 0; y < th; ++y) {
+            for (int y = 0; y < th; ++y)
-            for (int x = 0; x < tw; ++x) {
+            {
+                for (int x = 0; x < tw; ++x)
+                {
                     int tx = x;
                     int ty = y;
-                var task = Task.Run(() => {
+                    var task = Task.Run(() =>
-                    var partial= build(tx, ty, order, cCompatibility);
+                    {
+                        var partial = build(tx, ty, order, cCompatibility);
                         return Tuple.Create(tx, ty, partial);
                     });
                     tasks.Enqueue(task);
@@ -67,16 +76,18 @@ public abstract class AbstractTileLayersBuilder {
                 .ToDictionary(x => Tuple.Create(x.Item1, x.Item2), x => x.Item3);
 
             List<byte[]> layers = new List<byte[]>();
-        for (int y = 0; y < th; ++y) {
+            for (int y = 0; y < th; ++y)
-            for (int x = 0; x < tw; ++x) {
+            {
+                for (int x = 0; x < tw; ++x)
+                {
                     var key = Tuple.Create(x, y);
                     layers.AddRange(partialResults[key]);
                 }
             }
+
             return layers;
         }
 
         protected abstract List<byte[]> build(int tx, int ty, ByteOrder order, bool cCompatibility);
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/CompressedTile.cs

@@ -17,23 +17,26 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class CompressedTile
-
+    {
-public class CompressedTile {
         public readonly int index;
-    public int salt; /// < Counter describing modifications to the tile.
+        public int salt;
+
+        /// < Counter describing modifications to the tile.
         public TileCacheLayerHeader header;
+
         public byte[] data;
         public int compressed; // offset of compressed data
         public int flags;
         public CompressedTile next;
 
-    public CompressedTile(int index) {
+        public CompressedTile(int index)
+        {
             this.index = index;
             salt = 1;
         }
-}
+    }
-
 }

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

@@ -6,11 +6,11 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.5" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.5"/>
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour.TileCache/Io/Compress/FastLz.cs

@@ -18,9 +18,7 @@ using System;
 
 namespace DotRecast.Detour.TileCache.Io.Compress
 {
-
+    /**
-
-/**
  * Core of FastLZ compression algorithm.
  *
  * This class provides methods for compression and decompression of buffers and saves
@@ -29,8 +27,8 @@ namespace DotRecast.Detour.TileCache.Io.Compress
  * This is refactored code of <a href="https://code.google.com/p/jfastlz/">jfastlz</a>
  * library written by William Kinney.
  */
-public class FastLz {
+    public class FastLz
-
+    {
         private static readonly int MAX_DISTANCE = 8191;
         private static readonly int MAX_FARDISTANCE = 65535 + MAX_DISTANCE - 1;
 
@@ -84,8 +82,9 @@ public class FastLz {
      * @param inputLength length of input buffer
      * @return Maximum output buffer length
      */
-    public static int calculateOutputBufferLength(int inputLength) {
+        public static int calculateOutputBufferLength(int inputLength)
-        int tempOutputLength = (int) (inputLength * 1.06);
+        {
+            int tempOutputLength = (int)(inputLength * 1.06);
             return Math.Max(tempOutputLength, 66);
         }
 
@@ -96,11 +95,15 @@ public class FastLz {
      * If the input is not compressible, the return value might be larger than length (input buffer size).
      */
         public static int compress(byte[] input, int inOffset, int inLength,
-                        byte[] output, int outOffset, int proposedLevel) {
+            byte[] output, int outOffset, int proposedLevel)
+        {
             int level;
-        if (proposedLevel == LEVEL_AUTO) {
+            if (proposedLevel == LEVEL_AUTO)
+            {
                 level = inLength < MIN_RECOMENDED_LENGTH_FOR_LEVEL_2 ? LEVEL_1 : LEVEL_2;
-        } else {
+            }
+            else
+            {
                 level = proposedLevel;
             }
 
@@ -122,23 +125,29 @@ public class FastLz {
             int copy;
 
             /* sanity check */
-        if (inLength < 4) {
+            if (inLength < 4)
-            if (inLength != 0) {
+            {
+                if (inLength != 0)
+                {
                     // *op++ = length-1;
-                output[outOffset + op++] = (byte) (inLength - 1);
+                    output[outOffset + op++] = (byte)(inLength - 1);
                     ipBound++;
-                while (ip <= ipBound) {
+                    while (ip <= ipBound)
+                    {
                         output[outOffset + op++] = input[inOffset + ip++];
                     }
+
                     return inLength + 1;
                 }
+
                 // else
                 return 0;
             }
 
             /* initializes hash table */
             //  for (hslot = htab; hslot < htab + HASH_SIZE; hslot++)
-        for (hslot = 0; hslot < HASH_SIZE; hslot++) {
+            for (hslot = 0; hslot < HASH_SIZE; hslot++)
+            {
                 //*hslot = ip;
                 htab[hslot] = ip;
             }
@@ -150,7 +159,8 @@ public class FastLz {
             output[outOffset + op++] = input[inOffset + ip++];
 
             /* main loop */
-        while (ip < ipLimit) {
+            while (ip < ipLimit)
+            {
                 int refs = 0;
 
                 long distance = 0;
@@ -166,10 +176,12 @@ public class FastLz {
                 bool matchLabel = false;
 
                 /* check for a run */
-            if (level == LEVEL_2) {
+                if (level == LEVEL_2)
+                {
                     //if(ip[0] == ip[-1] && FASTLZ_READU16(ip-1)==FASTLZ_READU16(ip+1))
                     if (input[inOffset + ip] == input[inOffset + ip - 1] &&
-                        readU16(input, inOffset + ip - 1) == readU16(input, inOffset + ip + 1)) {
+                        readU16(input, inOffset + ip - 1) == readU16(input, inOffset + ip + 1))
+                    {
                         distance = 1;
                         ip += 3;
                         refs = anchor - 1 + 3;
@@ -180,7 +192,9 @@ public class FastLz {
                         matchLabel = true;
                     }
                 }
-            if (!matchLabel) {
+
+                if (!matchLabel)
+                {
                     /* find potential match */
                     // HASH_FUNCTION(hval,ip);
                     hval = hashFunction(input, inOffset + ip);
@@ -201,41 +215,51 @@ public class FastLz {
                         || (level == LEVEL_1 ? distance >= MAX_DISTANCE : distance >= MAX_FARDISTANCE)
                         || input[inOffset + refs++] != input[inOffset + ip++]
                         || input[inOffset + refs++] != input[inOffset + ip++]
-                        || input[inOffset + refs++] != input[inOffset + ip++]) {
+                        || input[inOffset + refs++] != input[inOffset + ip++])
+                    {
                         /*
                          * goto literal;
                          */
                         output[outOffset + op++] = input[inOffset + anchor++];
                         ip = anchor;
                         copy++;
-                    if (copy == MAX_COPY) {
+                        if (copy == MAX_COPY)
+                        {
                             copy = 0;
                             output[outOffset + op++] = (byte)(MAX_COPY - 1);
                         }
+
                         continue;
                     }
 
-                if (level == LEVEL_2) {
+                    if (level == LEVEL_2)
+                    {
                         /* far, needs at least 5-byte match */
-                    if (distance >= MAX_DISTANCE) {
+                        if (distance >= MAX_DISTANCE)
+                        {
                             if (input[inOffset + ip++] != input[inOffset + refs++]
-                                || input[inOffset + ip++] != input[inOffset + refs++]) {
+                                || input[inOffset + ip++] != input[inOffset + refs++])
+                            {
                                 /*
                                  * goto literal;
                                  */
                                 output[outOffset + op++] = input[inOffset + anchor++];
                                 ip = anchor;
                                 copy++;
-                            if (copy == MAX_COPY) {
+                                if (copy == MAX_COPY)
+                                {
                                     copy = 0;
                                     output[outOffset + op++] = (byte)(MAX_COPY - 1);
                                 }
+
                                 continue;
                             }
+
                             len += 2;
                         }
                     }
                 } // end if(!matchLabel)
+
                 /*
                  * match:
                  */
@@ -245,59 +269,89 @@ public class FastLz {
                 /* distance is biased */
                 distance--;
 
-            if (distance == 0) {
+                if (distance == 0)
+                {
                     /* zero distance means a run */
                     //flzuint8 x = ip[-1];
                     byte x = input[inOffset + ip - 1];
-                while (ip < ipBound) {
+                    while (ip < ipBound)
-                    if (input[inOffset + refs++] != x) {
+                    {
+                        if (input[inOffset + refs++] != x)
+                        {
                             break;
-                    } else {
+                        }
+                        else
+                        {
                             ip++;
                         }
                     }
-            } else {
+                }
-                for (;;) {
+                else
+                {
+                    for (;;)
+                    {
                         /* safe because the outer check against ip limit */
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    if (input[inOffset + refs++] != input[inOffset + ip++]) {
+
+                        if (input[inOffset + refs++] != input[inOffset + ip++])
+                        {
                             break;
                         }
-                    while (ip < ipBound) {
+
-                        if (input[inOffset + refs++] != input[inOffset + ip++]) {
+                        while (ip < ipBound)
+                        {
+                            if (input[inOffset + refs++] != input[inOffset + ip++])
+                            {
                                 break;
                             }
                         }
+
                         break;
                     }
                 }
 
                 /* if we have copied something, adjust the copy count */
-            if (copy != 0) {
+                if (copy != 0)
+                {
                     /* copy is biased, '0' means 1 byte copy */
                     // *(op-copy-1) = copy-1;
-                output[outOffset + op - copy - 1] = (byte) (copy - 1);
+                    output[outOffset + op - copy - 1] = (byte)(copy - 1);
-            } else {
+                }
+                else
+                {
                     /* back, to overwrite the copy count */
                     op--;
                 }
@@ -310,56 +364,77 @@ public class FastLz {
                 len = ip - anchor;
 
                 /* encode the match */
-            if (level == LEVEL_2) {
+                if (level == LEVEL_2)
-                if (distance < MAX_DISTANCE) {
+                {
-                    if (len < 7) {
+                    if (distance < MAX_DISTANCE)
-                        output[outOffset + op++] = (byte) ((len << 5) + (int)((ulong)distance >> 8));
+                    {
-                        output[outOffset + op++] = (byte) (distance & 255);
+                        if (len < 7)
-                    } else {
+                        {
-                        output[outOffset + op++] = (byte) ((7 << 5) + ((ulong)distance >> 8));
+                            output[outOffset + op++] = (byte)((len << 5) + (int)((ulong)distance >> 8));
-                        for (len -= 7; len >= 255; len -= 255) {
+                            output[outOffset + op++] = (byte)(distance & 255);
-                            output[outOffset + op++] = (byte) 255;
                         }
-                        output[outOffset + op++] = (byte) len;
+                        else
-                        output[outOffset + op++] = (byte) (distance & 255);
+                        {
+                            output[outOffset + op++] = (byte)((7 << 5) + ((ulong)distance >> 8));
+                            for (len -= 7; len >= 255; len -= 255)
+                            {
+                                output[outOffset + op++] = (byte)255;
                             }
-                } else {
+
+                            output[outOffset + op++] = (byte)len;
+                            output[outOffset + op++] = (byte)(distance & 255);
+                        }
+                    }
+                    else
+                    {
                         /* far away, but not yet in the another galaxy... */
-                    if (len < 7) {
+                        if (len < 7)
+                        {
                             distance -= MAX_DISTANCE;
-                        output[outOffset + op++] = (byte) ((len << 5) + 31);
+                            output[outOffset + op++] = (byte)((len << 5) + 31);
-                        output[outOffset + op++] = (byte) 255;
+                            output[outOffset + op++] = (byte)255;
-                        output[outOffset + op++] = (byte) ((ulong)distance >> 8);
+                            output[outOffset + op++] = (byte)((ulong)distance >> 8);
-                        output[outOffset + op++] = (byte) (distance & 255);
+                            output[outOffset + op++] = (byte)(distance & 255);
-                    } else {
+                        }
+                        else
+                        {
                             distance -= MAX_DISTANCE;
-                        output[outOffset + op++] = (byte) ((7 << 5) + 31);
+                            output[outOffset + op++] = (byte)((7 << 5) + 31);
-                        for (len -= 7; len >= 255; len -= 255) {
+                            for (len -= 7; len >= 255; len -= 255)
-                            output[outOffset + op++] = (byte) 255;
+                            {
+                                output[outOffset + op++] = (byte)255;
                             }
-                        output[outOffset + op++] = (byte) len;
+
-                        output[outOffset + op++] = (byte) 255;
+                            output[outOffset + op++] = (byte)len;
-                        output[outOffset + op++] = (byte) ((ulong)distance >> 8);
+                            output[outOffset + op++] = (byte)255;
-                        output[outOffset + op++] = (byte) (distance & 255);
+                            output[outOffset + op++] = (byte)((ulong)distance >> 8);
+                            output[outOffset + op++] = (byte)(distance & 255);
                         }
                     }
-            } else {
+                }
-                if (len > MAX_LEN - 2) {
+                else
-                    while (len > MAX_LEN - 2) {
+                {
-                        output[outOffset + op++] = (byte) ((7 << 5) + ((ulong)distance >> 8));
+                    if (len > MAX_LEN - 2)
-                        output[outOffset + op++] = (byte) (MAX_LEN - 2 - 7 - 2);
+                    {
-                        output[outOffset + op++] = (byte) (distance & 255);
+                        while (len > MAX_LEN - 2)
+                        {
+                            output[outOffset + op++] = (byte)((7 << 5) + ((ulong)distance >> 8));
+                            output[outOffset + op++] = (byte)(MAX_LEN - 2 - 7 - 2);
+                            output[outOffset + op++] = (byte)(distance & 255);
                             len -= MAX_LEN - 2;
                         }
                     }
 
-                if (len < 7) {
+                    if (len < 7)
-                    output[outOffset + op++] = (byte) ((len << 5) + (int)((ulong)distance >> 8));
+                    {
-                    output[outOffset + op++] = (byte) (distance & 255);
+                        output[outOffset + op++] = (byte)((len << 5) + (int)((ulong)distance >> 8));
-                } else {
+                        output[outOffset + op++] = (byte)(distance & 255);
-                    output[outOffset + op++] = (byte) ((7 << 5) + (int)((ulong)distance >> 8));
+                    }
-                    output[outOffset + op++] = (byte) (len - 7);
+                    else
-                    output[outOffset + op++] = (byte) (distance & 255);
+                    {
+                        output[outOffset + op++] = (byte)((7 << 5) + (int)((ulong)distance >> 8));
+                        output[outOffset + op++] = (byte)(len - 7);
+                        output[outOffset + op++] = (byte)(distance & 255);
                     }
                 }
 
@@ -393,24 +468,30 @@ public class FastLz {
 
             /* left-over as literal copy */
             ipBound++;
-        while (ip <= ipBound) {
+            while (ip <= ipBound)
+            {
                 output[outOffset + op++] = input[inOffset + ip++];
                 copy++;
-            if (copy == MAX_COPY) {
+                if (copy == MAX_COPY)
+                {
                     copy = 0;
                     output[outOffset + op++] = (byte)(MAX_COPY - 1);
                 }
             }
 
             /* if we have copied something, adjust the copy length */
-        if (copy != 0) {
+            if (copy != 0)
+            {
                 //*(op-copy-1) = copy-1;
-            output[outOffset + op - copy - 1] = (byte) (copy - 1);
+                output[outOffset + op - copy - 1] = (byte)(copy - 1);
-        } else {
+            }
+            else
+            {
                 op--;
             }
 
-        if (level == LEVEL_2) {
+            if (level == LEVEL_2)
+            {
                 /* marker for fastlz2 */
                 output[outOffset] |= 1 << 5;
             }
@@ -427,10 +508,12 @@ public class FastLz {
      * more than what is specified in outLength.
      */
         public static int decompress(byte[] input, int inOffset, int inLength,
-                          byte[] output, int outOffset, int outLength) {
+            byte[] output, int outOffset, int outLength)
+        {
             //int level = ((*(const flzuint8*)input) >> 5) + 1;
             int level = (input[inOffset] >> 5) + 1;
-        if (level != LEVEL_1 && level != LEVEL_2) {
+            if (level != LEVEL_1 && level != LEVEL_2)
+            {
                 throw new Exception($"invalid level: {level} (expected: {LEVEL_1} or {LEVEL_2})");
             }
 
@@ -442,7 +525,8 @@ public class FastLz {
             long ctrl = input[inOffset + ip++] & 31;
 
             int loop = 1;
-        do {
+            do
+            {
                 //  const flzuint8* refs = op;
                 int refs = op;
                 // flzuint32 len = ctrl >> 5;
@@ -450,71 +534,91 @@ public class FastLz {
                 // flzuint32 ofs = (ctrl & 31) << 8;
                 long ofs = (ctrl & 31) << 8;
 
-            if (ctrl >= 32) {
+                if (ctrl >= 32)
+                {
                     len--;
                     // refs -= ofs;
                     refs -= (int)ofs;
 
                     int code;
-                if (len == 6) {
+                    if (len == 6)
-                    if (level == LEVEL_1) {
+                    {
+                        if (level == LEVEL_1)
+                        {
                             // len += *ip++;
                             len += input[inOffset + ip++] & 0xFF;
-                    } else {
+                        }
-                        do {
+                        else
+                        {
+                            do
+                            {
                                 code = input[inOffset + ip++] & 0xFF;
                                 len += code;
                             } while (code == 255);
                         }
                     }
-                if (level == LEVEL_1) {
+
+                    if (level == LEVEL_1)
+                    {
                         //  refs -= *ip++;
                         refs -= input[inOffset + ip++] & 0xFF;
-                } else {
+                    }
+                    else
+                    {
                         code = input[inOffset + ip++] & 0xFF;
                         refs -= code;
 
                         /* match from 16-bit distance */
                         // if(FASTLZ_UNEXPECT_CONDITIONAL(code==255))
                         // if(FASTLZ_EXPECT_CONDITIONAL(ofs==(31 << 8)))
-                    if (code == 255 && ofs == 31 << 8) {
+                        if (code == 255 && ofs == 31 << 8)
+                        {
                             ofs = (input[inOffset + ip++] & 0xFF) << 8;
                             ofs += input[inOffset + ip++] & 0xFF;
 
-                        refs = (int) (op - ofs - MAX_DISTANCE);
+                            refs = (int)(op - ofs - MAX_DISTANCE);
                         }
                     }
 
                     // if the output index + length of block(?) + 3(?) is over the output limit?
-                if (op + len + 3 > outLength) {
+                    if (op + len + 3 > outLength)
+                    {
                         return 0;
                     }
 
                     // if (FASTLZ_UNEXPECT_CONDITIONAL(refs-1 < (flzuint8 *)output))
                     // if the address space of refs-1 is < the address of output?
                     // if we are still at the beginning of the output address?
-                if (refs - 1 < 0) {
+                    if (refs - 1 < 0)
+                    {
                         return 0;
                     }
 
-                if (ip < inLength) {
+                    if (ip < inLength)
+                    {
                         ctrl = input[inOffset + ip++] & 0xFF;
-                } else {
+                    }
+                    else
+                    {
                         loop = 0;
                     }
 
-                if (refs == op) {
+                    if (refs == op)
+                    {
                         /* optimize copy for a run */
                         // flzuint8 b = refs[-1];
                         byte b = output[outOffset + refs - 1];
                         output[outOffset + op++] = b;
                         output[outOffset + op++] = b;
                         output[outOffset + op++] = b;
-                    while (len != 0) {
+                        while (len != 0)
+                        {
                             output[outOffset + op++] = b;
                             --len;
                         }
-                } else {
+                    }
+                    else
+                    {
                         /* copy from reference */
                         refs--;
 
@@ -523,31 +627,39 @@ public class FastLz {
                         output[outOffset + op++] = output[outOffset + refs++];
                         output[outOffset + op++] = output[outOffset + refs++];
 
-                    while (len != 0) {
+                        while (len != 0)
+                        {
                             output[outOffset + op++] = output[outOffset + refs++];
                             --len;
                         }
                     }
-            } else {
+                }
+                else
+                {
                     ctrl++;
 
-                if (op + ctrl > outLength) {
+                    if (op + ctrl > outLength)
+                    {
                         return 0;
                     }
-                if (ip + ctrl > inLength) {
+
+                    if (ip + ctrl > inLength)
+                    {
                         return 0;
                     }
 
                     //*op++ = *ip++;
                     output[outOffset + op++] = input[inOffset + ip++];
 
-                for (--ctrl; ctrl != 0; ctrl--) {
+                    for (--ctrl; ctrl != 0; ctrl--)
+                    {
                         // *op++ = *ip++;
                         output[outOffset + op++] = input[inOffset + ip++];
                     }
 
                     loop = ip < inLength ? 1 : 0;
-                if (loop != 0) {
+                    if (loop != 0)
+                    {
                         //  ctrl = *ip++;
                         ctrl = input[inOffset + ip++] & 0xFF;
                     }
@@ -560,20 +672,26 @@ public class FastLz {
             return op;
         }
 
-    private static int hashFunction(byte[] p, int offset) {
+        private static int hashFunction(byte[] p, int offset)
+        {
             int v = readU16(p, offset);
             v ^= readU16(p, offset + 1) ^ v >> 16 - HASH_LOG;
             v &= HASH_MASK;
             return v;
         }
 
-    private static int readU16(byte[] data, int offset) {
+        private static int readU16(byte[] data, int offset)
-        if (offset + 1 >= data.Length) {
+        {
+            if (offset + 1 >= data.Length)
+            {
                 return data[offset] & 0xff;
             }
+
             return (data[offset + 1] & 0xff) << 8 | data[offset] & 0xff;
         }
 
-    private FastLz() { }
+        private FastLz()
-}
+        {
+        }
+    }
 }

src/DotRecast.Detour.TileCache/Io/Compress/FastLzTileCacheCompressor.cs

@@ -23,22 +23,20 @@ using K4os.Compression.LZ4;
 
 namespace DotRecast.Detour.TileCache.Io.Compress
 {
-
+    public class FastLzTileCacheCompressor : TileCacheCompressor
-
+    {
-public class FastLzTileCacheCompressor : TileCacheCompressor {
+        public byte[] decompress(byte[] buf, int offset, int len, int outputlen)
-
+        {
-    public byte[] decompress(byte[] buf, int offset, int len, int outputlen) {
             byte[] output = new byte[outputlen];
             FastLz.decompress(buf, offset, len, output, 0, outputlen);
             return output;
         }
 
-    public byte[] compress(byte[] buf) {
+        public byte[] compress(byte[] buf)
+        {
             byte[] output = new byte[FastLz.calculateOutputBufferLength(buf.Length)];
             int len = FastLz.compress(buf, 0, buf.Length, output, 0, output.Length);
             return ArrayUtils.CopyOf(output, len);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/Io/Compress/LZ4TileCacheCompressor.cs

@@ -22,18 +22,16 @@ using K4os.Compression.LZ4;
 
 namespace DotRecast.Detour.TileCache.Io.Compress
 {
-
+    public class LZ4TileCacheCompressor : TileCacheCompressor
-
+    {
-public class LZ4TileCacheCompressor : TileCacheCompressor {
+        public byte[] decompress(byte[] buf, int offset, int len, int outputlen)
-
+        {
-    public byte[] decompress(byte[] buf, int offset, int len, int outputlen) {
             return LZ4Pickler.Unpickle(buf, offset, len);
         }
 
-    public byte[] compress(byte[] buf) {
+        public byte[] compress(byte[] buf)
+        {
             return LZ4Pickler.Pickle(buf);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/Io/Compress/TileCacheCompressorFactory.cs

@@ -17,14 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache.Io.Compress
 {
-
+    public class TileCacheCompressorFactory
-
+    {
-
-
-public class TileCacheCompressorFactory {
-
         public static TileCacheCompressor get(bool cCompatibility)
         {
             if (cCompatibility)
@@ -32,6 +29,5 @@ public class TileCacheCompressorFactory {
 
             return new LZ4TileCacheCompressor();
         }
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderReader.cs

@@ -23,11 +23,10 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-
+    public class TileCacheLayerHeaderReader
-
+    {
-public class TileCacheLayerHeaderReader {
+        public TileCacheLayerHeader read(ByteBuffer data, bool cCompatibility)
-
+        {
-    public TileCacheLayerHeader read(ByteBuffer data, bool cCompatibility) {
             TileCacheLayerHeader header = new TileCacheLayerHeader();
             header.magic = data.getInt();
             header.version = data.getInt();
@@ -40,12 +39,16 @@ public class TileCacheLayerHeaderReader {
             header.tx = data.getInt();
             header.ty = data.getInt();
             header.tlayer = data.getInt();
-        for (int j = 0; j < 3; j++) {
+            for (int j = 0; j < 3; j++)
+            {
                 header.bmin[j] = data.getFloat();
             }
-        for (int j = 0; j < 3; j++) {
+
+            for (int j = 0; j < 3; j++)
+            {
                 header.bmax[j] = data.getFloat();
             }
+
             header.hmin = data.getShort() & 0xFFFF;
             header.hmax = data.getShort() & 0xFFFF;
             header.width = data.get() & 0xFF;
@@ -54,12 +57,12 @@ public class TileCacheLayerHeaderReader {
             header.maxx = data.get() & 0xFF;
             header.miny = data.get() & 0xFF;
             header.maxy = data.get() & 0xFF;
-        if (cCompatibility) {
+            if (cCompatibility)
+            {
                 data.getShort(); // C struct padding
             }
+
             return header;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/Io/TileCacheLayerHeaderWriter.cs

@@ -24,35 +24,37 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-
+    public class TileCacheLayerHeaderWriter : DetourWriter
-
+    {
-public class TileCacheLayerHeaderWriter : DetourWriter {
+        public void write(BinaryWriter stream, TileCacheLayerHeader header, ByteOrder order, bool cCompatibility)
-
+        {
-    public void write(BinaryWriter stream, TileCacheLayerHeader header, ByteOrder order, bool cCompatibility) {
             write(stream, header.magic, order);
             write(stream, header.version, order);
             write(stream, header.tx, order);
             write(stream, header.ty, order);
             write(stream, header.tlayer, order);
-        for (int j = 0; j < 3; j++) {
+            for (int j = 0; j < 3; j++)
+            {
                 write(stream, header.bmin[j], order);
             }
-        for (int j = 0; j < 3; j++) {
+
+            for (int j = 0; j < 3; j++)
+            {
                 write(stream, header.bmax[j], order);
             }
-        write(stream, (short) header.hmin, order);
+
-        write(stream, (short) header.hmax, order);
+            write(stream, (short)header.hmin, order);
-        write(stream, (byte) header.width);
+            write(stream, (short)header.hmax, order);
-        write(stream, (byte) header.height);
+            write(stream, (byte)header.width);
-        write(stream, (byte) header.minx);
+            write(stream, (byte)header.height);
-        write(stream, (byte) header.maxx);
+            write(stream, (byte)header.minx);
-        write(stream, (byte) header.miny);
+            write(stream, (byte)header.maxx);
-        write(stream, (byte) header.maxy);
+            write(stream, (byte)header.miny);
-        if (cCompatibility) {
+            write(stream, (byte)header.maxy);
-            write(stream, (short) 0, order); // C struct padding
+            if (cCompatibility)
+            {
+                write(stream, (short)0, order); // C struct padding
+            }
         }
     }
-
-}
-
 }

src/DotRecast.Detour.TileCache/Io/TileCacheReader.cs

@@ -25,33 +25,40 @@ using DotRecast.Detour.TileCache.Io.Compress;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-
+    public class TileCacheReader
-
+    {
-public class TileCacheReader {
-
         private readonly NavMeshParamReader paramReader = new NavMeshParamReader();
 
-    public TileCache read(BinaryReader @is, int maxVertPerPoly, TileCacheMeshProcess meshProcessor) {
+        public TileCache read(BinaryReader @is, int maxVertPerPoly, TileCacheMeshProcess meshProcessor)
+        {
             ByteBuffer bb = IOUtils.toByteBuffer(@is);
             return read(bb, maxVertPerPoly, meshProcessor);
         }
 
-    public TileCache read(ByteBuffer bb, int maxVertPerPoly, TileCacheMeshProcess meshProcessor) {
+        public TileCache read(ByteBuffer bb, int maxVertPerPoly, TileCacheMeshProcess meshProcessor)
+        {
             TileCacheSetHeader header = new TileCacheSetHeader();
             header.magic = bb.getInt();
-        if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC) {
+            if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC)
+            {
                 header.magic = IOUtils.swapEndianness(header.magic);
-            if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC) {
+                if (header.magic != TileCacheSetHeader.TILECACHESET_MAGIC)
+                {
                     throw new IOException("Invalid magic");
                 }
+
                 bb.order(bb.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN);
             }
+
             header.version = bb.getInt();
-        if (header.version != TileCacheSetHeader.TILECACHESET_VERSION) {
+            if (header.version != TileCacheSetHeader.TILECACHESET_VERSION)
-            if (header.version != TileCacheSetHeader.TILECACHESET_VERSION_RECAST4J) {
+            {
+                if (header.version != TileCacheSetHeader.TILECACHESET_VERSION_RECAST4J)
+                {
                     throw new IOException("Invalid version");
                 }
             }
+
             bool cCompatibility = header.version == TileCacheSetHeader.TILECACHESET_VERSION;
             header.numTiles = bb.getInt();
             header.meshParams = paramReader.read(bb);
@@ -61,27 +68,34 @@ public class TileCacheReader {
             TileCache tc = new TileCache(header.cacheParams, new TileCacheStorageParams(bb.order(), cCompatibility), mesh,
                 compressor, meshProcessor);
             // Read tiles.
-        for (int i = 0; i < header.numTiles; ++i) {
+            for (int i = 0; i < header.numTiles; ++i)
+            {
                 long tileRef = bb.getInt();
                 int dataSize = bb.getInt();
-            if (tileRef == 0 || dataSize == 0) {
+                if (tileRef == 0 || dataSize == 0)
+                {
                     break;
                 }
 
                 byte[] data = bb.ReadBytes(dataSize).ToArray();
                 long tile = tc.addTile(data, 0);
-            if (tile != 0) {
+                if (tile != 0)
+                {
                     tc.buildNavMeshTile(tile);
                 }
             }
+
             return tc;
         }
 
-    private TileCacheParams readCacheParams(ByteBuffer bb, bool cCompatibility) {
+        private TileCacheParams readCacheParams(ByteBuffer bb, bool cCompatibility)
+        {
             TileCacheParams option = new TileCacheParams();
-        for (int i = 0; i < 3; i++) {
+            for (int i = 0; i < 3; i++)
+            {
                 option.orig[i] = bb.getFloat();
             }
+
             option.cs = bb.getFloat();
             option.ch = bb.getFloat();
             option.width = bb.getInt();
@@ -94,6 +108,5 @@ public class TileCacheReader {
             option.maxObstacles = bb.getInt();
             return option;
         }
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/Io/TileCacheSetHeader.cs

@@ -17,12 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache.Io
 {
-
+    public class TileCacheSetHeader
-
+    {
-public class TileCacheSetHeader {
-
         public const int TILECACHESET_MAGIC = 'T' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'TSET';
         public const int TILECACHESET_VERSION = 1;
         public const int TILECACHESET_VERSION_RECAST4J = 0x8801;
@@ -32,7 +31,5 @@ public class TileCacheSetHeader {
         public int numTiles;
         public NavMeshParams meshParams = new NavMeshParams();
         public TileCacheParams cacheParams = new TileCacheParams();
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/Io/TileCacheWriter.cs

@@ -24,32 +24,35 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-
+    public class TileCacheWriter : DetourWriter
-
+    {
-public class TileCacheWriter : DetourWriter {
-
         private readonly NavMeshParamWriter paramWriter = new NavMeshParamWriter();
         private readonly TileCacheBuilder builder = new TileCacheBuilder();
 
-    public void write(BinaryWriter stream, TileCache cache, ByteOrder order, bool cCompatibility) {
+        public void write(BinaryWriter stream, TileCache cache, ByteOrder order, bool cCompatibility)
+        {
             write(stream, TileCacheSetHeader.TILECACHESET_MAGIC, order);
-        write(stream, cCompatibility ? TileCacheSetHeader.TILECACHESET_VERSION
+            write(stream, cCompatibility
+                ? TileCacheSetHeader.TILECACHESET_VERSION
                 : TileCacheSetHeader.TILECACHESET_VERSION_RECAST4J, order);
             int numTiles = 0;
-        for (int i = 0; i < cache.getTileCount(); ++i) {
+            for (int i = 0; i < cache.getTileCount(); ++i)
+            {
                 CompressedTile tile = cache.getTile(i);
                 if (tile == null || tile.data == null)
                     continue;
                 numTiles++;
             }
+
             write(stream, numTiles, order);
             paramWriter.write(stream, cache.getNavMesh().getParams(), order);
             writeCacheParams(stream, cache.getParams(), order);
-        for (int i = 0; i < cache.getTileCount(); i++) {
+            for (int i = 0; i < cache.getTileCount(); i++)
+            {
                 CompressedTile tile = cache.getTile(i);
                 if (tile == null || tile.data == null)
                     continue;
-            write(stream, (int) cache.getTileRef(tile), order);
+                write(stream, (int)cache.getTileRef(tile), order);
                 byte[] data = tile.data;
                 TileCacheLayer layer = cache.decompressTile(tile);
                 data = builder.compressTileCacheLayer(layer, order, cCompatibility);
@@ -58,10 +61,13 @@ public class TileCacheWriter : DetourWriter {
             }
         }
 
-    private void writeCacheParams(BinaryWriter stream, TileCacheParams option, ByteOrder order) {
+        private void writeCacheParams(BinaryWriter stream, TileCacheParams option, ByteOrder order)
-        for (int i = 0; i < 3; i++) {
+        {
+            for (int i = 0; i < 3; i++)
+            {
                 write(stream, option.orig[i], order);
             }
+
             write(stream, option.cs, order);
             write(stream, option.ch, order);
             write(stream, option.width, order);
@@ -73,7 +79,5 @@ public class TileCacheWriter : DetourWriter {
             write(stream, option.maxTiles, order);
             write(stream, option.maxObstacles, order);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/ObstacleRequest.cs

@@ -17,13 +17,12 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class ObstacleRequest
-
+    {
-public class ObstacleRequest {
         public ObstacleRequestAction action;
         public long refs;
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/ObstacleRequestAction.cs

@@ -17,12 +17,12 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public enum ObstacleRequestAction
-
+    {
-public enum ObstacleRequestAction {
+        REQUEST_ADD,
-    REQUEST_ADD, REQUEST_REMOVE
+        REQUEST_REMOVE
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/ObstacleState.cs

@@ -17,13 +17,14 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public enum ObstacleState
-
+    {
-public enum ObstacleState {
+        DT_OBSTACLE_EMPTY,
-
+        DT_OBSTACLE_PROCESSING,
-    DT_OBSTACLE_EMPTY, DT_OBSTACLE_PROCESSING, DT_OBSTACLE_PROCESSED, DT_OBSTACLE_REMOVING
+        DT_OBSTACLE_PROCESSED,
-}
+        DT_OBSTACLE_REMOVING
-
+    }
 }

src/DotRecast.Detour.TileCache/TileCache.cs

@@ -22,26 +22,35 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Detour.TileCache.Io;
-
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.TileCache
 {
+    public class TileCache
+    {
+        int m_tileLutSize;
 
+        /// < Tile hash lookup size (must be pot).
+        int m_tileLutMask;
 
-public class TileCache {
+        /// < Tile hash lookup mask.
+        private readonly CompressedTile[] m_posLookup;
 
-    int m_tileLutSize; /// < Tile hash lookup size (must be pot).
+        /// < Tile hash lookup.
-    int m_tileLutMask; /// < Tile hash lookup mask.
+        private CompressedTile m_nextFreeTile;
 
-    private readonly CompressedTile[] m_posLookup; /// < Tile hash lookup.
+        /// < Freelist of tiles.
-    private CompressedTile m_nextFreeTile; /// < Freelist of tiles.
+        private readonly CompressedTile[] m_tiles;
-    private readonly CompressedTile[] m_tiles; /// < List of tiles. // TODO: (PP) replace with list
 
-    private readonly int m_saltBits; /// < Number of salt bits in the tile ID.
+        /// < List of tiles. // TODO: (PP) replace with list
-    private readonly int m_tileBits; /// < Number of tile bits in the tile ID.
+        private readonly int m_saltBits;
 
+        /// < Number of salt bits in the tile ID.
+        private readonly int m_tileBits;
+
+        /// < Number of tile bits in the tile ID.
         private readonly NavMesh m_navmesh;
+
         private readonly TileCacheParams m_params;
         private readonly TileCacheStorageParams m_storageParams;
 
@@ -57,46 +66,54 @@ public class TileCache {
         private readonly TileCacheBuilder builder = new TileCacheBuilder();
         private readonly TileCacheLayerHeaderReader tileReader = new TileCacheLayerHeaderReader();
 
-    private bool contains(List<long> a, long v) {
+        private bool contains(List<long> a, long v)
+        {
             return a.Contains(v);
         }
 
         /// Encodes a tile id.
-    private long encodeTileId(int salt, int it) {
+        private long encodeTileId(int salt, int it)
-        return ((long) salt << m_tileBits) | it;
+        {
+            return ((long)salt << m_tileBits) | it;
         }
 
         /// Decodes a tile salt.
-    private int decodeTileIdSalt(long refs) {
+        private int decodeTileIdSalt(long refs)
+        {
             long saltMask = (1L << m_saltBits) - 1;
-        return (int) ((refs >> m_tileBits) & saltMask);
+            return (int)((refs >> m_tileBits) & saltMask);
         }
 
         /// Decodes a tile id.
-    private int decodeTileIdTile(long refs) {
+        private int decodeTileIdTile(long refs)
+        {
             long tileMask = (1L << m_tileBits) - 1;
-        return (int) (refs & tileMask);
+            return (int)(refs & tileMask);
         }
 
         /// Encodes an obstacle id.
-    private long encodeObstacleId(int salt, int it) {
+        private long encodeObstacleId(int salt, int it)
-        return ((long) salt << 16) | it;
+        {
+            return ((long)salt << 16) | it;
         }
 
         /// Decodes an obstacle salt.
-    private int decodeObstacleIdSalt(long refs) {
+        private int decodeObstacleIdSalt(long refs)
-        long saltMask = ((long) 1 << 16) - 1;
+        {
-        return (int) ((refs >> 16) & saltMask);
+            long saltMask = ((long)1 << 16) - 1;
+            return (int)((refs >> 16) & saltMask);
         }
 
         /// Decodes an obstacle id.
-    private int decodeObstacleIdObstacle(long refs) {
+        private int decodeObstacleIdObstacle(long refs)
-        long tileMask = ((long) 1 << 16) - 1;
+        {
-        return (int) (refs & tileMask);
+            long tileMask = ((long)1 << 16) - 1;
+            return (int)(refs & tileMask);
         }
 
         public TileCache(TileCacheParams option, TileCacheStorageParams storageParams, NavMesh navmesh,
-            TileCacheCompressor tcomp, TileCacheMeshProcess tmprocs) {
+            TileCacheCompressor tcomp, TileCacheMeshProcess tmprocs)
+        {
             m_params = option;
             m_storageParams = storageParams;
             m_navmesh = navmesh;
@@ -104,121 +121,159 @@ public class TileCache {
             m_tmproc = tmprocs;
 
             m_tileLutSize = nextPow2(m_params.maxTiles / 4);
-        if (m_tileLutSize == 0) {
+            if (m_tileLutSize == 0)
+            {
                 m_tileLutSize = 1;
             }
+
             m_tileLutMask = m_tileLutSize - 1;
             m_tiles = new CompressedTile[m_params.maxTiles];
             m_posLookup = new CompressedTile[m_tileLutSize];
-        for (int i = m_params.maxTiles - 1; i >= 0; --i) {
+            for (int i = m_params.maxTiles - 1; i >= 0; --i)
+            {
                 m_tiles[i] = new CompressedTile(i);
                 m_tiles[i].next = m_nextFreeTile;
                 m_nextFreeTile = m_tiles[i];
             }
+
             m_tileBits = ilog2(nextPow2(m_params.maxTiles));
             m_saltBits = Math.Min(31, 32 - m_tileBits);
-        if (m_saltBits < 10) {
+            if (m_saltBits < 10)
+            {
                 throw new Exception("Too few salt bits: " + m_saltBits);
             }
         }
 
-    public CompressedTile getTileByRef(long refs) {
+        public CompressedTile getTileByRef(long refs)
-        if (refs == 0) {
+        {
+            if (refs == 0)
+            {
                 return null;
             }
+
             int tileIndex = decodeTileIdTile(refs);
             int tileSalt = decodeTileIdSalt(refs);
-        if (tileIndex >= m_params.maxTiles) {
+            if (tileIndex >= m_params.maxTiles)
+            {
                 return null;
             }
+
             CompressedTile tile = m_tiles[tileIndex];
-        if (tile.salt != tileSalt) {
+            if (tile.salt != tileSalt)
+            {
                 return null;
             }
+
             return tile;
         }
 
-    public List<long> getTilesAt(int tx, int ty) {
+        public List<long> getTilesAt(int tx, int ty)
+        {
             List<long> tiles = new List<long>();
 
             // Find tile based on hash.
             int h = NavMesh.computeTileHash(tx, ty, m_tileLutMask);
             CompressedTile tile = m_posLookup[h];
-        while (tile != null) {
+            while (tile != null)
-            if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty) {
+            {
+                if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty)
+                {
                     tiles.Add(getTileRef(tile));
                 }
+
                 tile = tile.next;
             }
 
             return tiles;
         }
 
-    CompressedTile getTileAt(int tx, int ty, int tlayer) {
+        CompressedTile getTileAt(int tx, int ty, int tlayer)
+        {
             // Find tile based on hash.
             int h = NavMesh.computeTileHash(tx, ty, m_tileLutMask);
             CompressedTile tile = m_posLookup[h];
-        while (tile != null) {
+            while (tile != null)
-            if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty && tile.header.tlayer == tlayer) {
+            {
+                if (tile.header != null && tile.header.tx == tx && tile.header.ty == ty && tile.header.tlayer == tlayer)
+                {
                     return tile;
                 }
+
                 tile = tile.next;
             }
+
             return null;
         }
 
-    public long getTileRef(CompressedTile tile) {
+        public long getTileRef(CompressedTile tile)
-        if (tile == null) {
+        {
+            if (tile == null)
+            {
                 return 0;
             }
+
             int it = tile.index;
             return encodeTileId(tile.salt, it);
         }
 
-    public long getObstacleRef(TileCacheObstacle ob) {
+        public long getObstacleRef(TileCacheObstacle ob)
-        if (ob == null) {
+        {
+            if (ob == null)
+            {
                 return 0;
             }
+
             int idx = ob.index;
             return encodeObstacleId(ob.salt, idx);
         }
 
-    public TileCacheObstacle getObstacleByRef(long refs) {
+        public TileCacheObstacle getObstacleByRef(long refs)
-        if (refs == 0) {
+        {
+            if (refs == 0)
+            {
                 return null;
             }
+
             int idx = decodeObstacleIdObstacle(refs);
-        if (idx >= m_obstacles.Count) {
+            if (idx >= m_obstacles.Count)
+            {
                 return null;
             }
 
             TileCacheObstacle ob = m_obstacles[idx];
             int salt = decodeObstacleIdSalt(refs);
-        if (ob.salt != salt) {
+            if (ob.salt != salt)
+            {
                 return null;
             }
+
             return ob;
         }
 
-    public long addTile(byte[] data, int flags) {
+        public long addTile(byte[] data, int flags)
+        {
             // Make sure the data is in right format.
             ByteBuffer buf = new ByteBuffer(data);
             buf.order(m_storageParams.byteOrder);
             TileCacheLayerHeader header = tileReader.read(buf, m_storageParams.cCompatibility);
             // Make sure the location is free.
-        if (getTileAt(header.tx, header.ty, header.tlayer) != null) {
+            if (getTileAt(header.tx, header.ty, header.tlayer) != null)
+            {
                 return 0;
             }
+
             // Allocate a tile.
             CompressedTile tile = null;
-        if (m_nextFreeTile != null) {
+            if (m_nextFreeTile != null)
+            {
                 tile = m_nextFreeTile;
                 m_nextFreeTile = tile.next;
                 tile.next = null;
             }
 
             // Make sure we could allocate a tile.
-        if (tile == null) {
+            if (tile == null)
+            {
                 throw new Exception("Out of storage");
             }
 
@@ -236,21 +291,28 @@ public class TileCache {
             return getTileRef(tile);
         }
 
-    private int align4(int i) {
+        private int align4(int i)
+        {
             return (i + 3) & (~3);
         }
 
-    public void removeTile(long refs) {
+        public void removeTile(long refs)
-        if (refs == 0) {
+        {
+            if (refs == 0)
+            {
                 throw new Exception("Invalid tile ref");
             }
+
             int tileIndex = decodeTileIdTile(refs);
             int tileSalt = decodeTileIdSalt(refs);
-        if (tileIndex >= m_params.maxTiles) {
+            if (tileIndex >= m_params.maxTiles)
+            {
                 throw new Exception("Invalid tile index");
             }
+
             CompressedTile tile = m_tiles[tileIndex];
-        if (tile.salt != tileSalt) {
+            if (tile.salt != tileSalt)
+            {
                 throw new Exception("Invalid tile salt");
             }
 
@@ -258,15 +320,22 @@ public class TileCache {
             int h = NavMesh.computeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
             CompressedTile prev = null;
             CompressedTile cur = m_posLookup[h];
-        while (cur != null) {
+            while (cur != null)
-            if (cur == tile) {
+            {
-                if (prev != null) {
+                if (cur == tile)
+                {
+                    if (prev != null)
+                    {
                         prev.next = cur.next;
-                } else {
+                    }
+                    else
+                    {
                         m_posLookup[h] = cur.next;
                     }
+
                     break;
                 }
+
                 prev = cur;
                 cur = cur.next;
             }
@@ -278,18 +347,19 @@ public class TileCache {
 
             // Update salt, salt should never be zero.
             tile.salt = (tile.salt + 1) & ((1 << m_saltBits) - 1);
-        if (tile.salt == 0) {
+            if (tile.salt == 0)
+            {
                 tile.salt++;
             }
 
             // Add to free list.
             tile.next = m_nextFreeTile;
             m_nextFreeTile = tile;
-
         }
 
         // Cylinder obstacle
-    public long addObstacle(float[] pos, float radius, float height) {
+        public long addObstacle(float[] pos, float radius, float height)
+        {
             TileCacheObstacle ob = allocObstacle();
             ob.type = TileCacheObstacle.TileCacheObstacleType.CYLINDER;
 
@@ -301,7 +371,8 @@ public class TileCache {
         }
 
         // Aabb obstacle
-    public long addBoxObstacle(float[] bmin, float[] bmax) {
+        public long addBoxObstacle(float[] bmin, float[] bmax)
+        {
             TileCacheObstacle ob = allocObstacle();
             ob.type = TileCacheObstacle.TileCacheObstacleType.BOX;
 
@@ -312,19 +383,21 @@ public class TileCache {
         }
 
         // Box obstacle: can be rotated in Y
-    public long addBoxObstacle(float[] center, float[] extents, float yRadians) {
+        public long addBoxObstacle(float[] center, float[] extents, float yRadians)
+        {
             TileCacheObstacle ob = allocObstacle();
             ob.type = TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX;
             vCopy(ob.center, center);
             vCopy(ob.extents, extents);
-        float coshalf = (float) Math.Cos(0.5f * yRadians);
+            float coshalf = (float)Math.Cos(0.5f * yRadians);
-        float sinhalf = (float) Math.Sin(-0.5f * yRadians);
+            float sinhalf = (float)Math.Sin(-0.5f * yRadians);
             ob.rotAux[0] = coshalf * sinhalf;
             ob.rotAux[1] = coshalf * coshalf - 0.5f;
             return addObstacleRequest(ob).refs;
         }
 
-    private ObstacleRequest addObstacleRequest(TileCacheObstacle ob) {
+        private ObstacleRequest addObstacleRequest(TileCacheObstacle ob)
+        {
             ObstacleRequest req = new ObstacleRequest();
             req.action = ObstacleRequestAction.REQUEST_ADD;
             req.refs = getObstacleRef(ob);
@@ -332,8 +405,10 @@ public class TileCache {
             return req;
         }
 
-    public void removeObstacle(long refs) {
+        public void removeObstacle(long refs)
-        if (refs == 0) {
+        {
+            if (refs == 0)
+            {
                 return;
             }
 
@@ -343,14 +418,19 @@ public class TileCache {
             m_reqs.Add(req);
         }
 
-    private TileCacheObstacle allocObstacle() {
+        private TileCacheObstacle allocObstacle()
+        {
             TileCacheObstacle o = m_nextFreeObstacle;
-        if (o == null) {
+            if (o == null)
+            {
                 o = new TileCacheObstacle(m_obstacles.Count);
                 m_obstacles.Add(o);
-        } else {
+            }
+            else
+            {
                 m_nextFreeObstacle = o.next;
             }
+
             o.state = ObstacleState.DT_OBSTACLE_PROCESSING;
             o.touched.Clear();
             o.pending.Clear();
@@ -358,28 +438,34 @@ public class TileCache {
             return o;
         }
 
-    List<long> queryTiles(float[] bmin, float[] bmax) {
+        List<long> queryTiles(float[] bmin, float[] bmax)
+        {
             List<long> results = new List<long>();
             float tw = m_params.width * m_params.cs;
             float th = m_params.height * m_params.cs;
-        int tx0 = (int) Math.Floor((bmin[0] - m_params.orig[0]) / tw);
+            int tx0 = (int)Math.Floor((bmin[0] - m_params.orig[0]) / tw);
-        int tx1 = (int) Math.Floor((bmax[0] - m_params.orig[0]) / tw);
+            int tx1 = (int)Math.Floor((bmax[0] - m_params.orig[0]) / tw);
-        int ty0 = (int) Math.Floor((bmin[2] - m_params.orig[2]) / th);
+            int ty0 = (int)Math.Floor((bmin[2] - m_params.orig[2]) / th);
-        int ty1 = (int) Math.Floor((bmax[2] - m_params.orig[2]) / th);
+            int ty1 = (int)Math.Floor((bmax[2] - m_params.orig[2]) / th);
-        for (int ty = ty0; ty <= ty1; ++ty) {
+            for (int ty = ty0; ty <= ty1; ++ty)
-            for (int tx = tx0; tx <= tx1; ++tx) {
+            {
+                for (int tx = tx0; tx <= tx1; ++tx)
+                {
                     List<long> tiles = getTilesAt(tx, ty);
-                foreach (long i in tiles) {
+                    foreach (long i in tiles)
+                    {
                         CompressedTile tile = m_tiles[decodeTileIdTile(i)];
                         float[] tbmin = new float[3];
                         float[] tbmax = new float[3];
                         calcTightTileBounds(tile.header, tbmin, tbmax);
-                    if (overlapBounds(bmin, bmax, tbmin, tbmax)) {
+                        if (overlapBounds(bmin, bmax, tbmin, tbmax))
+                        {
                             results.Add(i);
                         }
                     }
                 }
             }
+
             return results;
         }
 
@@ -390,21 +476,28 @@ public class TileCache {
      *         cache is up to date another (immediate) call to update will have no effect; otherwise another call will
      *         continue processing obstacle requests and tile rebuilds.
      */
-    public bool update() {
+        public bool update()
-        if (0 == m_update.Count) {
+        {
+            if (0 == m_update.Count)
+            {
                 // Process requests.
-            foreach (ObstacleRequest req in m_reqs) {
+                foreach (ObstacleRequest req in m_reqs)
+                {
                     int idx = decodeObstacleIdObstacle(req.refs);
-                if (idx >= m_obstacles.Count) {
+                    if (idx >= m_obstacles.Count)
-                    continue;
+                    {
-                }
-                TileCacheObstacle ob = m_obstacles[idx];
-                int salt = decodeObstacleIdSalt(req.refs);
-                if (ob.salt != salt) {
                         continue;
                     }
 
-                if (req.action == ObstacleRequestAction.REQUEST_ADD) {
+                    TileCacheObstacle ob = m_obstacles[idx];
+                    int salt = decodeObstacleIdSalt(req.refs);
+                    if (ob.salt != salt)
+                    {
+                        continue;
+                    }
+
+                    if (req.action == ObstacleRequestAction.REQUEST_ADD)
+                    {
                         // Find touched tiles.
                         float[] bmin = new float[3];
                         float[] bmax = new float[3];
@@ -412,21 +505,29 @@ public class TileCache {
                         ob.touched = queryTiles(bmin, bmax);
                         // Add tiles to update list.
                         ob.pending.Clear();
-                    foreach (long j in ob.touched) {
+                        foreach (long j in ob.touched)
-                        if (!contains(m_update, j)) {
+                        {
+                            if (!contains(m_update, j))
+                            {
                                 m_update.Add(j);
                             }
+
                             ob.pending.Add(j);
                         }
-                } else if (req.action == ObstacleRequestAction.REQUEST_REMOVE) {
+                    }
+                    else if (req.action == ObstacleRequestAction.REQUEST_REMOVE)
+                    {
                         // Prepare to remove obstacle.
                         ob.state = ObstacleState.DT_OBSTACLE_REMOVING;
                         // Add tiles to update list.
                         ob.pending.Clear();
-                    foreach (long j in ob.touched) {
+                        foreach (long j in ob.touched)
-                        if (!contains(m_update, j)) {
+                        {
+                            if (!contains(m_update, j))
+                            {
                                 m_update.Add(j);
                             }
+
                             ob.pending.Add(j);
                         }
                     }
@@ -436,31 +537,40 @@ public class TileCache {
             }
 
             // Process updates
-        if (0 < m_update.Count) {
+            if (0 < m_update.Count)
+            {
                 long refs = m_update[0];
                 m_update.RemoveAt(0);
                 // Build mesh
                 buildNavMeshTile(refs);
 
                 // Update obstacle states.
-            for (int i = 0; i < m_obstacles.Count; ++i) {
+                for (int i = 0; i < m_obstacles.Count; ++i)
+                {
                     TileCacheObstacle ob = m_obstacles[i];
                     if (ob.state == ObstacleState.DT_OBSTACLE_PROCESSING
-                        || ob.state == ObstacleState.DT_OBSTACLE_REMOVING) {
+                        || ob.state == ObstacleState.DT_OBSTACLE_REMOVING)
+                    {
                         // Remove handled tile from pending list.
                         ob.pending.Remove(refs);
 
                         // If all pending tiles processed, change state.
-                    if (0 == ob.pending.Count) {
+                        if (0 == ob.pending.Count)
-                        if (ob.state == ObstacleState.DT_OBSTACLE_PROCESSING) {
+                        {
+                            if (ob.state == ObstacleState.DT_OBSTACLE_PROCESSING)
+                            {
                                 ob.state = ObstacleState.DT_OBSTACLE_PROCESSED;
-                        } else if (ob.state == ObstacleState.DT_OBSTACLE_REMOVING) {
+                            }
+                            else if (ob.state == ObstacleState.DT_OBSTACLE_REMOVING)
+                            {
                                 ob.state = ObstacleState.DT_OBSTACLE_EMPTY;
                                 // Update salt, salt should never be zero.
                                 ob.salt = (ob.salt + 1) & ((1 << 16) - 1);
-                            if (ob.salt == 0) {
+                                if (ob.salt == 0)
+                                {
                                     ob.salt++;
                                 }
+
                                 // Return obstacle to free list.
                                 ob.next = m_nextFreeObstacle;
                                 m_nextFreeObstacle = ob;
@@ -473,49 +583,66 @@ public class TileCache {
             return 0 == m_update.Count && 0 == m_reqs.Count;
         }
 
-    public void buildNavMeshTile(long refs) {
+        public void buildNavMeshTile(long refs)
+        {
             int idx = decodeTileIdTile(refs);
-        if (idx > m_params.maxTiles) {
+            if (idx > m_params.maxTiles)
+            {
                 throw new Exception("Invalid tile index");
             }
+
             CompressedTile tile = m_tiles[idx];
             int salt = decodeTileIdSalt(refs);
-        if (tile.salt != salt) {
+            if (tile.salt != salt)
+            {
                 throw new Exception("Invalid tile salt");
             }
-        int walkableClimbVx = (int) (m_params.walkableClimb / m_params.ch);
+
+            int walkableClimbVx = (int)(m_params.walkableClimb / m_params.ch);
 
             // Decompress tile layer data.
             TileCacheLayer layer = decompressTile(tile);
 
             // Rasterize obstacles.
-        for (int i = 0; i < m_obstacles.Count; ++i) {
+            for (int i = 0; i < m_obstacles.Count; ++i)
+            {
                 TileCacheObstacle ob = m_obstacles[i];
-            if (ob.state == ObstacleState.DT_OBSTACLE_EMPTY || ob.state == ObstacleState.DT_OBSTACLE_REMOVING) {
+                if (ob.state == ObstacleState.DT_OBSTACLE_EMPTY || ob.state == ObstacleState.DT_OBSTACLE_REMOVING)
+                {
                     continue;
                 }
-            if (contains(ob.touched, refs)) {
+
-                if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER) {
+                if (contains(ob.touched, refs))
+                {
+                    if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER)
+                    {
                         builder.markCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius,
                             ob.height, 0);
-                } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX) {
+                    }
+                    else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX)
+                    {
                         builder.markBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
-                } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX) {
+                    }
+                    else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX)
+                    {
                         builder.markBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents,
                             ob.rotAux, 0);
                     }
                 }
             }
+
             // Build navmesh
             builder.buildTileCacheRegions(layer, walkableClimbVx);
             TileCacheContourSet lcset = builder.buildTileCacheContours(layer, walkableClimbVx,
                 m_params.maxSimplificationError);
             TileCachePolyMesh polyMesh = builder.buildTileCachePolyMesh(lcset, m_navmesh.getMaxVertsPerPoly());
             // Early out if the mesh tile is empty.
-        if (polyMesh.npolys == 0) {
+            if (polyMesh.npolys == 0)
+            {
                 m_navmesh.removeTile(m_navmesh.getTileRefAt(tile.header.tx, tile.header.ty, tile.header.tlayer));
                 return;
             }
+
             NavMeshDataCreateParams option = new NavMeshDataCreateParams();
             option.verts = polyMesh.verts;
             option.vertCount = polyMesh.nverts;
@@ -535,25 +662,30 @@ public class TileCache {
             option.buildBvTree = false;
             option.bmin = tile.header.bmin;
             option.bmax = tile.header.bmax;
-        if (m_tmproc != null) {
+            if (m_tmproc != null)
+            {
                 m_tmproc.process(option);
             }
+
             MeshData meshData = NavMeshBuilder.createNavMeshData(option);
             // Remove existing tile.
             m_navmesh.removeTile(m_navmesh.getTileRefAt(tile.header.tx, tile.header.ty, tile.header.tlayer));
             // Add new tile, or leave the location empty. if (navData) { // Let the
-        if (meshData != null) {
+            if (meshData != null)
+            {
                 m_navmesh.addTile(meshData, 0, 0);
             }
         }
 
-    public TileCacheLayer decompressTile(CompressedTile tile) {
+        public TileCacheLayer decompressTile(CompressedTile tile)
+        {
             TileCacheLayer layer = builder.decompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.byteOrder,
                 m_storageParams.cCompatibility);
             return layer;
         }
 
-    void calcTightTileBounds(TileCacheLayerHeader header, float[] bmin, float[] bmax) {
+        void calcTightTileBounds(TileCacheLayerHeader header, float[] bmin, float[] bmax)
+        {
             float cs = m_params.cs;
             bmin[0] = header.bmin[0] + header.minx * cs;
             bmin[1] = header.bmin[1];
@@ -563,18 +695,24 @@ public class TileCache {
             bmax[2] = header.bmin[2] + (header.maxy + 1) * cs;
         }
 
-    void getObstacleBounds(TileCacheObstacle ob, float[] bmin, float[] bmax) {
+        void getObstacleBounds(TileCacheObstacle ob, float[] bmin, float[] bmax)
-        if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER) {
+        {
+            if (ob.type == TileCacheObstacle.TileCacheObstacleType.CYLINDER)
+            {
                 bmin[0] = ob.pos[0] - ob.radius;
                 bmin[1] = ob.pos[1];
                 bmin[2] = ob.pos[2] - ob.radius;
                 bmax[0] = ob.pos[0] + ob.radius;
                 bmax[1] = ob.pos[1] + ob.height;
                 bmax[2] = ob.pos[2] + ob.radius;
-        } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX) {
+            }
+            else if (ob.type == TileCacheObstacle.TileCacheObstacleType.BOX)
+            {
                 vCopy(bmin, ob.bmin);
                 vCopy(bmax, ob.bmax);
-        } else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX) {
+            }
+            else if (ob.type == TileCacheObstacle.TileCacheObstacleType.ORIENTED_BOX)
+            {
                 float maxr = 1.41f * Math.Max(ob.extents[0], ob.extents[2]);
                 bmin[0] = ob.center[0] - maxr;
                 bmax[0] = ob.center[0] + maxr;
@@ -585,25 +723,29 @@ public class TileCache {
             }
         }
 
-    public TileCacheParams getParams() {
+        public TileCacheParams getParams()
+        {
             return m_params;
         }
 
-    public TileCacheCompressor getCompressor() {
+        public TileCacheCompressor getCompressor()
+        {
             return m_tcomp;
         }
 
-    public int getTileCount() {
+        public int getTileCount()
+        {
             return m_params.maxTiles;
         }
 
-    public CompressedTile getTile(int i) {
+        public CompressedTile getTile(int i)
+        {
             return m_tiles[i];
         }
 
-    public NavMesh getNavMesh() {
+        public NavMesh getNavMesh()
+        {
             return m_navmesh;
         }
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheCompressor.cs

@@ -17,15 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public interface TileCacheCompressor
-
+    {
-public interface TileCacheCompressor {
-
         byte[] decompress(byte[] buf, int offset, int len, int outputlen);
 
         byte[] compress(byte[] buf);
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheContour.cs

@@ -17,15 +17,14 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheContour
-
+    {
-public class TileCacheContour {
         public int nverts;
         public int[] verts;
         public int reg;
         public int area;
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheContourSet.cs

@@ -17,13 +17,12 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheContourSet
-
+    {
-public class TileCacheContourSet {
         public int nconts;
         public TileCacheContour[] conts;
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheLayer.cs

@@ -17,17 +17,19 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheLayer
-
+    {
-public class TileCacheLayer {
         public TileCacheLayerHeader header;
-    public int regCount; /// < Region count.
+        public int regCount;
+
+        /// < Region count.
         public short[] heights; // char
+
         public short[] areas; // char
         public short[] cons; // char
         public short[] regs; // char
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheLayerHeader.cs

@@ -17,24 +17,32 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
+    public class TileCacheLayerHeader
+    {
+        public const int DT_TILECACHE_MAGIC = 'D' << 24 | 'T' << 16 | 'L' << 8 | 'R';
 
-
+        /// < 'DTLR';
-public class TileCacheLayerHeader {
-
-    public const int DT_TILECACHE_MAGIC = 'D' << 24 | 'T' << 16 | 'L' << 8 | 'R'; /// < 'DTLR';
         public const int DT_TILECACHE_VERSION = 1;
 
-    public int magic; /// < Data magic
+        public int magic;
-    public int version; /// < Data version
+
+        /// < Data magic
+        public int version;
+
+        /// < Data version
         public int tx, ty, tlayer;
+
         public float[] bmin = new float[3];
         public float[] bmax = new float[3];
-    public int hmin, hmax; /// < Height min/max range
+        public int hmin, hmax;
-    public int width, height; /// < Dimension of the layer.
+
+        /// < Height min/max range
+        public int width, height;
+
+        /// < Dimension of the layer.
         public int minx, maxx, miny, maxy; /// < Usable sub-region.
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/TileCacheMeshProcess.cs

@@ -17,13 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public interface TileCacheMeshProcess
-
+    {
-public interface TileCacheMeshProcess {
-
         void process(NavMeshDataCreateParams option);
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheObstacle.cs

@@ -22,12 +22,13 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheObstacle
-
+    {
-public class TileCacheObstacle {
+        public enum TileCacheObstacleType
-
+        {
-    public enum TileCacheObstacleType {
+            CYLINDER,
-        CYLINDER, BOX, ORIENTED_BOX
+            BOX,
+            ORIENTED_BOX
         };
 
         public readonly int index;
@@ -45,11 +46,10 @@ public class TileCacheObstacle {
         public ObstacleState state = ObstacleState.DT_OBSTACLE_EMPTY;
         public TileCacheObstacle next;
 
-    public TileCacheObstacle(int index) {
+        public TileCacheObstacle(int index)
+        {
             salt = 1;
             this.index = index;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/TileCacheParams.cs

@@ -17,11 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheParams
-
+    {
-public class TileCacheParams {
         public readonly float[] orig = new float[3];
         public float cs, ch;
         public int width, height;
@@ -31,7 +31,5 @@ public class TileCacheParams {
         public float maxSimplificationError;
         public int maxTiles;
         public int maxObstacles;
-
+    }
-}
-
 }

src/DotRecast.Detour.TileCache/TileCachePolyMesh.cs

@@ -17,22 +17,33 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCachePolyMesh
-
+    {
-public class TileCachePolyMesh {
         public int nvp;
-    public int nverts; /// < Number of vertices.
+        public int nverts;
-    public int npolys; /// < Number of polygons.
-    public int[] verts; /// < Vertices of the mesh, 3 elements per vertex.
-    public int[] polys; /// < Polygons of the mesh, nvp*2 elements per polygon.
-    public int[] flags; /// < Per polygon flags.
-    public int[] areas; /// < Area ID of polygons.
 
-    public TileCachePolyMesh(int nvp) {
+        /// < Number of vertices.
+        public int npolys;
+
+        /// < Number of polygons.
+        public int[] verts;
+
+        /// < Vertices of the mesh, 3 elements per vertex.
+        public int[] polys;
+
+        /// < Polygons of the mesh, nvp*2 elements per polygon.
+        public int[] flags;
+
+        /// < Per polygon flags.
+        public int[] areas;
+
+        /// < Area ID of polygons.
+        public TileCachePolyMesh(int nvp)
+        {
             this.nvp = nvp;
         }
-}
+    }
-
 }

src/DotRecast.Detour.TileCache/TileCacheStorageParams.cs

@@ -22,18 +22,15 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache
 {
-
+    public class TileCacheStorageParams
-
+    {
-public class TileCacheStorageParams {
-
         public readonly ByteOrder byteOrder;
         public readonly bool cCompatibility;
 
-    public TileCacheStorageParams(ByteOrder byteOrder, bool cCompatibility) {
+        public TileCacheStorageParams(ByteOrder byteOrder, bool cCompatibility)
+        {
             this.byteOrder = byteOrder;
             this.cCompatibility = cCompatibility;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/BVNode.cs

@@ -17,23 +17,24 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Bounding volume node.
  *
  * @note This structure is rarely if ever used by the end user.
  * @see MeshTile
  */
-public class BVNode {
+    public class BVNode
+    {
         /** Minimum bounds of the node's AABB. [(x, y, z)] */
         public int[] bmin = new int[3];
+
         /** Maximum bounds of the node's AABB. [(x, y, z)] */
         public int[] bmax = new int[3];
+
         /** The node's index. (Negative for escape sequence.) */
         public int i;
-}
+    }
-
 }

src/DotRecast.Detour/ClosestPointOnPolyResult.cs

@@ -17,30 +17,30 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class ClosestPointOnPolyResult
-
+    {
-public class ClosestPointOnPolyResult {
-
         private readonly bool posOverPoly;
         private readonly float[] closest;
 
-    public ClosestPointOnPolyResult(bool posOverPoly, float[] closest) {
+        public ClosestPointOnPolyResult(bool posOverPoly, float[] closest)
+        {
             this.posOverPoly = posOverPoly;
             this.closest = closest;
         }
 
         /** Returns true if the position is over the polygon. */
-    public bool isPosOverPoly() {
+        public bool isPosOverPoly()
+        {
             return posOverPoly;
         }
 
         /** Returns the closest point on the polygon. [(x, y, z)] */
-    public float[] getClosest() {
+        public float[] getClosest()
+        {
             return closest;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/ConvexConvexIntersection.cs

@@ -20,26 +20,31 @@ using System;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    /**
-using static DetourCommon;
-
-/**
  * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
  */
-public static class ConvexConvexIntersection {
+    public static class ConvexConvexIntersection
-
+    {
         private static readonly float EPSILON = 0.0001f;
 
-    private enum InFlag {
+        private enum InFlag
-        Pin, Qin, Unknown,
+        {
+            Pin,
+            Qin,
+            Unknown,
         }
 
-    private enum Intersection {
+        private enum Intersection
-        None, Single, Overlap,
+        {
+            None,
+            Single,
+            Overlap,
         }
 
-    public static float[] intersect(float[] p, float[] q) {
+        public static float[] intersect(float[] p, float[] q)
+        {
             int n = p.Length / 3;
             int m = q.Length / 3;
             float[] inters = new float[Math.Max(m, n) * 3 * 3];
@@ -60,7 +65,8 @@ public static class ConvexConvexIntersection {
             float[] ip = new float[3];
             float[] iq = new float[3];
 
-        do {
+            do
+            {
                 vCopy(a, p, 3 * (ai % n));
                 vCopy(b, q, 3 * (bi % m));
                 vCopy(a1, p, 3 * ((ai + n - 1) % n)); // prev a
@@ -69,20 +75,25 @@ public static class ConvexConvexIntersection {
                 float[] A = vSub(a, a1);
                 float[] B = vSub(b, b1);
 
-            float cross = B[0] * A[2] - A[0] * B[2];// triArea2D({0, 0}, A, B);
+                float cross = B[0] * A[2] - A[0] * B[2]; // triArea2D({0, 0}, A, B);
                 float aHB = triArea2D(b1, b, a);
                 float bHA = triArea2D(a1, a, b);
-            if (Math.Abs(cross) < EPSILON) {
+                if (Math.Abs(cross) < EPSILON)
+                {
                     cross = 0f;
                 }
+
                 bool parallel = cross == 0f;
                 Intersection code = parallel ? parallelInt(a1, a, b1, b, ip, iq) : segSegInt(a1, a, b1, b, ip, iq);
 
-            if (code == Intersection.Single) {
+                if (code == Intersection.Single)
-                if (FirstPoint) {
+                {
+                    if (FirstPoint)
+                    {
                         FirstPoint = false;
                         aa = ba = 0;
                     }
+
                     ii = addVertex(inters, ii, ip);
                     f = inOut(f, aHB, bHA);
                 }
@@ -90,55 +101,76 @@ public static class ConvexConvexIntersection {
                 /*-----Advance rules-----*/
 
                 /* Special case: A & B overlap and oppositely oriented. */
-            if (code == Intersection.Overlap && vDot2D(A, B) < 0) {
+                if (code == Intersection.Overlap && vDot2D(A, B) < 0)
+                {
                     ii = addVertex(inters, ii, ip);
                     ii = addVertex(inters, ii, iq);
                     break;
                 }
 
                 /* Special case: A & B parallel and separated. */
-            if (parallel && aHB < 0f && bHA < 0f) {
+                if (parallel && aHB < 0f && bHA < 0f)
+                {
                     return null;
                 }
-
                 /* Special case: A & B collinear. */
-            else if (parallel && Math.Abs(aHB) < EPSILON && Math.Abs(bHA) < EPSILON) {
+                else if (parallel && Math.Abs(aHB) < EPSILON && Math.Abs(bHA) < EPSILON)
+                {
                     /* Advance but do not output point. */
-                if (f == InFlag.Pin) {
+                    if (f == InFlag.Pin)
+                    {
                         ba++;
                         bi++;
-                } else {
+                    }
+                    else
+                    {
                         aa++;
                         ai++;
                     }
                 }
+                /* Generic cases. */
+                else if (cross >= 0)
+                {
+                    if (bHA > 0)
+                    {
+                        if (f == InFlag.Pin)
+                        {
+                            ii = addVertex(inters, ii, a);
+                        }
 
-            /* Generic cases. */
-            else if (cross >= 0) {
-                if (bHA > 0) {
-                    if (f == InFlag.Pin) {
-                        ii = addVertex(inters, ii, a);
-                    }
                         aa++;
                         ai++;
-                } else {
+                    }
-                    if (f == InFlag.Qin) {
+                    else
+                    {
+                        if (f == InFlag.Qin)
+                        {
                             ii = addVertex(inters, ii, b);
                         }
+
                         ba++;
                         bi++;
                     }
-            } else {
+                }
-                if (aHB > 0) {
+                else
-                    if (f == InFlag.Qin) {
+                {
+                    if (aHB > 0)
+                    {
+                        if (f == InFlag.Qin)
+                        {
                             ii = addVertex(inters, ii, b);
                         }
+
                         ba++;
                         bi++;
-                } else {
+                    }
-                    if (f == InFlag.Pin) {
+                    else
+                    {
+                        if (f == InFlag.Pin)
+                        {
                             ii = addVertex(inters, ii, a);
                         }
+
                         aa++;
                         ai++;
                     }
@@ -147,7 +179,8 @@ public static class ConvexConvexIntersection {
             } while ((aa < n || ba < m) && aa < 2 * n && ba < 2 * m);
 
             /* Deal with special cases: not implemented. */
-        if (f == InFlag.Unknown) {
+            if (f == InFlag.Unknown)
+            {
                 return null;
             }
 
@@ -156,86 +189,117 @@ public static class ConvexConvexIntersection {
             return copied;
         }
 
-    private static int addVertex(float[] inters, int ii, float[] p) {
+        private static int addVertex(float[] inters, int ii, float[] p)
-        if (ii > 0) {
+        {
-            if (inters[ii - 3] == p[0] && inters[ii - 2] == p[1] && inters[ii - 1] == p[2]) {
+            if (ii > 0)
+            {
+                if (inters[ii - 3] == p[0] && inters[ii - 2] == p[1] && inters[ii - 1] == p[2])
+                {
                     return ii;
                 }
-            if (inters[0] == p[0] && inters[1] == p[1] && inters[2] == p[2]) {
+
+                if (inters[0] == p[0] && inters[1] == p[1] && inters[2] == p[2])
+                {
                     return ii;
                 }
             }
+
             inters[ii] = p[0];
             inters[ii + 1] = p[1];
             inters[ii + 2] = p[2];
             return ii + 3;
         }
 
-    private static InFlag inOut(InFlag inflag, float aHB, float bHA) {
+        private static InFlag inOut(InFlag inflag, float aHB, float bHA)
-        if (aHB > 0) {
+        {
+            if (aHB > 0)
+            {
                 return InFlag.Pin;
-        } else if (bHA > 0) {
+            }
+            else if (bHA > 0)
+            {
                 return InFlag.Qin;
             }
+
             return inflag;
         }
 
-    private static Intersection segSegInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q) {
+        private static Intersection segSegInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q)
+        {
             var isec = intersectSegSeg2D(a, b, c, d);
-        if (null != isec) {
+            if (null != isec)
+            {
                 float s = isec.Item1;
                 float t = isec.Item2;
-            if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f) {
+                if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
+                {
                     p[0] = a[0] + (b[0] - a[0]) * s;
                     p[1] = a[1] + (b[1] - a[1]) * s;
                     p[2] = a[2] + (b[2] - a[2]) * s;
                     return Intersection.Single;
                 }
             }
+
             return Intersection.None;
         }
 
-    private static Intersection parallelInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q) {
+        private static Intersection parallelInt(float[] a, float[] b, float[] c, float[] d, float[] p, float[] q)
-        if (between(a, b, c) && between(a, b, d)) {
+        {
+            if (between(a, b, c) && between(a, b, d))
+            {
                 vCopy(p, c);
                 vCopy(q, d);
                 return Intersection.Overlap;
             }
-        if (between(c, d, a) && between(c, d, b)) {
+
+            if (between(c, d, a) && between(c, d, b))
+            {
                 vCopy(p, a);
                 vCopy(q, b);
                 return Intersection.Overlap;
             }
-        if (between(a, b, c) && between(c, d, b)) {
+
+            if (between(a, b, c) && between(c, d, b))
+            {
                 vCopy(p, c);
                 vCopy(q, b);
                 return Intersection.Overlap;
             }
-        if (between(a, b, c) && between(c, d, a)) {
+
+            if (between(a, b, c) && between(c, d, a))
+            {
                 vCopy(p, c);
                 vCopy(q, a);
                 return Intersection.Overlap;
             }
-        if (between(a, b, d) && between(c, d, b)) {
+
+            if (between(a, b, d) && between(c, d, b))
+            {
                 vCopy(p, d);
                 vCopy(q, b);
                 return Intersection.Overlap;
             }
-        if (between(a, b, d) && between(c, d, a)) {
+
+            if (between(a, b, d) && between(c, d, a))
+            {
                 vCopy(p, d);
                 vCopy(q, a);
                 return Intersection.Overlap;
             }
+
             return Intersection.None;
         }
 
-    private static bool between(float[] a, float[] b, float[] c) {
+        private static bool between(float[] a, float[] b, float[] c)
-        if (Math.Abs(a[0] - b[0]) > Math.Abs(a[2] - b[2])) {
+        {
+            if (Math.Abs(a[0] - b[0]) > Math.Abs(a[2] - b[2]))
+            {
                 return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
-        } else {
+            }
+            else
+            {
                 return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
             }
         }
-}
+    }
-
 }

src/DotRecast.Detour/DefaultQueryFilter.cs

@@ -22,11 +22,9 @@ using System;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    /**
-using static DetourCommon;
-
-/**
  * <b>The Default Implementation</b>
  *
  * At construction: All area costs default to 1.0. All flags are included and none are excluded.
@@ -51,56 +49,66 @@ using static DetourCommon;
  *
  * @see NavMeshQuery
  */
-public class DefaultQueryFilter : QueryFilter {
+    public class DefaultQueryFilter : QueryFilter
-
+    {
         private int m_excludeFlags;
         private int m_includeFlags;
         private readonly float[] m_areaCost = new float[NavMesh.DT_MAX_AREAS];
 
-    public DefaultQueryFilter() {
+        public DefaultQueryFilter()
+        {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-        for (int i = 0; i < NavMesh.DT_MAX_AREAS; ++i) {
+            for (int i = 0; i < NavMesh.DT_MAX_AREAS; ++i)
+            {
                 m_areaCost[i] = 1.0f;
             }
         }
 
-    public DefaultQueryFilter(int includeFlags, int excludeFlags, float[] areaCost) {
+        public DefaultQueryFilter(int includeFlags, int excludeFlags, float[] areaCost)
+        {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-        for (int i = 0; i < Math.Min(NavMesh.DT_MAX_AREAS, areaCost.Length); ++i) {
+            for (int i = 0; i < Math.Min(NavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
+            {
                 m_areaCost[i] = areaCost[i];
             }
-        for (int i = areaCost.Length; i < NavMesh.DT_MAX_AREAS; ++i) {
+
+            for (int i = areaCost.Length; i < NavMesh.DT_MAX_AREAS; ++i)
+            {
                 m_areaCost[i] = 1.0f;
             }
         }
 
-    public bool passFilter(long refs, MeshTile tile, Poly poly) {
+        public bool passFilter(long refs, MeshTile tile, Poly poly)
+        {
             return (poly.flags & m_includeFlags) != 0 && (poly.flags & m_excludeFlags) == 0;
         }
 
         public float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef,
-            MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly) {
+            MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly)
+        {
             return vDist(pa, pb) * m_areaCost[curPoly.getArea()];
         }
 
-    public int getIncludeFlags() {
+        public int getIncludeFlags()
+        {
             return m_includeFlags;
         }
 
-    public void setIncludeFlags(int flags) {
+        public void setIncludeFlags(int flags)
+        {
             m_includeFlags = flags;
         }
 
-    public int getExcludeFlags() {
+        public int getExcludeFlags()
+        {
             return m_excludeFlags;
         }
 
-    public void setExcludeFlags(int flags) {
+        public void setExcludeFlags(int flags)
+        {
             m_excludeFlags = flags;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/DefaultQueryHeuristic.cs

@@ -18,26 +18,24 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    public class DefaultQueryHeuristic : QueryHeuristic
-using static DetourCommon;
+    {
-
-public class DefaultQueryHeuristic : QueryHeuristic {
-
         private readonly float scale;
 
         public DefaultQueryHeuristic() : this(0.999f)
         {
         }
 
-    public DefaultQueryHeuristic(float scale) {
+        public DefaultQueryHeuristic(float scale)
+        {
             this.scale = scale;
         }
 
-    public float getCost(float[] neighbourPos, float[] endPos) {
+        public float getCost(float[] neighbourPos, float[] endPos)
+        {
             return vDist(neighbourPos, endPos) * scale;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/DetourBuilder.cs

@@ -17,20 +17,21 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class DetourBuilder
-
+    {
-public class DetourBuilder {
+        public MeshData build(NavMeshDataCreateParams option, int tileX, int tileY)
-
+        {
-    public MeshData build(NavMeshDataCreateParams option, int tileX, int tileY) {
             MeshData data = NavMeshBuilder.createNavMeshData(option);
-        if (data != null) {
+            if (data != null)
+            {
                 data.header.x = tileX;
                 data.header.y = tileY;
             }
+
             return data;
         }
-}
+    }
-
 }

src/DotRecast.Detour/DetourCommon.cs

@@ -22,10 +22,8 @@ using System;
 
 namespace DotRecast.Detour
 {
-
+    public static class DetourCommon
-
+    {
-public static class DetourCommon {
-
         public const float EPS = 1e-4f;
 
         /// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
@@ -33,7 +31,8 @@ public static class DetourCommon {
         /// @param[in] v1 The base vector. [(x, y, z)]
         /// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
         /// @param[in] s The amount to scale @p v2 by before adding to @p v1.
-    public static float[] vMad(float[] v1, float[] v2, float s) {
+        public static float[] vMad(float[] v1, float[] v2, float s)
+        {
             float[] dest = new float[3];
             dest[0] = v1[0] + v2[0] * s;
             dest[1] = v1[1] + v2[1] * s;
@@ -47,7 +46,8 @@ public static class DetourCommon {
         /// @param[in] v1 The starting vector.
         /// @param[in] v2 The destination vector.
         /// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
-    public static float[] vLerp(float[] verts, int v1, int v2, float t) {
+        public static float[] vLerp(float[] verts, int v1, int v2, float t)
+        {
             float[] dest = new float[3];
             dest[0] = verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t;
             dest[1] = verts[v1 + 1] + (verts[v2 + 1] - verts[v1 + 1]) * t;
@@ -55,7 +55,8 @@ public static class DetourCommon {
             return dest;
         }
 
-    public static float[] vLerp(float[] v1, float[] v2, float t) {
+        public static float[] vLerp(float[] v1, float[] v2, float t)
+        {
             float[] dest = new float[3];
             dest[0] = v1[0] + (v2[0] - v1[0]) * t;
             dest[1] = v1[1] + (v2[1] - v1[1]) * t;
@@ -63,7 +64,8 @@ public static class DetourCommon {
             return dest;
         }
 
-    public static float[] vSub(VectorPtr v1, VectorPtr v2) {
+        public static float[] vSub(VectorPtr v1, VectorPtr v2)
+        {
             float[] dest = new float[3];
             dest[0] = v1.get(0) - v2.get(0);
             dest[1] = v1.get(1) - v2.get(1);
@@ -71,7 +73,8 @@ public static class DetourCommon {
             return dest;
         }
 
-    public static float[] vSub(float[] v1, float[] v2) {
+        public static float[] vSub(float[] v1, float[] v2)
+        {
             float[] dest = new float[3];
             dest[0] = v1[0] - v2[0];
             dest[1] = v1[1] - v2[1];
@@ -79,7 +82,8 @@ public static class DetourCommon {
             return dest;
         }
 
-    public static float[] vAdd(float[] v1, float[] v2) {
+        public static float[] vAdd(float[] v1, float[] v2)
+        {
             float[] dest = new float[3];
             dest[0] = v1[0] + v2[0];
             dest[1] = v1[1] + v2[1];
@@ -87,7 +91,8 @@ public static class DetourCommon {
             return dest;
         }
 
-    public static float[] vCopy(float[] @in) {
+        public static float[] vCopy(float[] @in)
+        {
             float[] @out = new float[3];
             @out[0] = @in[0];
             @out[1] = @in[1];
@@ -95,31 +100,36 @@ public static class DetourCommon {
             return @out;
         }
 
-    public static void vSet(float[] @out, float a, float b, float c) {
+        public static void vSet(float[] @out, float a, float b, float c)
+        {
             @out[0] = a;
             @out[1] = b;
             @out[2] = c;
         }
 
-    public static void vCopy(float[] @out, float[] @in) {
+        public static void vCopy(float[] @out, float[] @in)
+        {
             @out[0] = @in[0];
             @out[1] = @in[1];
             @out[2] = @in[2];
         }
 
-    public static void vCopy(float[] @out, float[] @in, int i) {
+        public static void vCopy(float[] @out, float[] @in, int i)
+        {
             @out[0] = @in[i];
             @out[1] = @in[i + 1];
             @out[2] = @in[i + 2];
         }
 
-    public static void vMin(float[] @out, float[] @in, int i) {
+        public static void vMin(float[] @out, float[] @in, int i)
+        {
             @out[0] = Math.Min(@out[0], @in[i]);
             @out[1] = Math.Min(@out[1], @in[i + 1]);
             @out[2] = Math.Min(@out[2], @in[i + 2]);
         }
 
-    public static void vMax(float[] @out, float[] @in, int i) {
+        public static void vMax(float[] @out, float[] @in, int i)
+        {
             @out[0] = Math.Max(@out[0], @in[i]);
             @out[1] = Math.Max(@out[1], @in[i + 1]);
             @out[2] = Math.Max(@out[2], @in[i + 2]);
@@ -129,51 +139,59 @@ public static class DetourCommon {
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
         /// @return The distance between the two points.
-    public static float vDist(float[] v1, float[] v2) {
+        public static float vDist(float[] v1, float[] v2)
+        {
             float dx = v2[0] - v1[0];
             float dy = v2[1] - v1[1];
             float dz = v2[2] - v1[2];
-        return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
+            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
 
         /// Returns the distance between two points.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
         /// @return The distance between the two points.
-    public static float vDistSqr(float[] v1, float[] v2) {
+        public static float vDistSqr(float[] v1, float[] v2)
+        {
             float dx = v2[0] - v1[0];
             float dy = v2[1] - v1[1];
             float dz = v2[2] - v1[2];
             return dx * dx + dy * dy + dz * dz;
         }
 
-    public static float sqr(float a) {
+        public static float sqr(float a)
+        {
             return a * a;
         }
 
         /// Derives the square of the scalar length of the vector. (len * len)
         /// @param[in] v The vector. [(x, y, z)]
         /// @return The square of the scalar length of the vector.
-    public static float vLenSqr(float[] v) {
+        public static float vLenSqr(float[] v)
+        {
             return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
         }
 
-    public static float vLen(float[] v) {
+        public static float vLen(float[] v)
-        return (float) Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+        {
+            return (float)Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
         }
 
-    public static float vDist(float[] v1, float[] verts, int i) {
+        public static float vDist(float[] v1, float[] verts, int i)
+        {
             float dx = verts[i] - v1[0];
             float dy = verts[i + 1] - v1[1];
             float dz = verts[i + 2] - v1[2];
-        return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
+            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
 
-    public static float clamp(float v, float min, float max) {
+        public static float clamp(float v, float min, float max)
+        {
             return Math.Max(Math.Min(v, max), min);
         }
 
-    public static int clamp(int v, int min, int max) {
+        public static int clamp(int v, int min, int max)
+        {
             return Math.Max(Math.Min(v, max), min);
         }
 
@@ -184,19 +202,22 @@ public static class DetourCommon {
         ///
         /// The vectors are projected onto the xz-plane, so the y-values are
         /// ignored.
-    public static float vDist2D(float[] v1, float[] v2) {
+        public static float vDist2D(float[] v1, float[] v2)
+        {
             float dx = v2[0] - v1[0];
             float dz = v2[2] - v1[2];
-        return (float) Math.Sqrt(dx * dx + dz * dz);
+            return (float)Math.Sqrt(dx * dx + dz * dz);
         }
 
-    public static float vDist2DSqr(float[] v1, float[] v2) {
+        public static float vDist2DSqr(float[] v1, float[] v2)
+        {
             float dx = v2[0] - v1[0];
             float dz = v2[2] - v1[2];
             return dx * dx + dz * dz;
         }
 
-    public static float vDist2DSqr(float[] p, float[] verts, int i) {
+        public static float vDist2DSqr(float[] p, float[] verts, int i)
+        {
             float dx = verts[i] - p[0];
             float dz = verts[i + 2] - p[2];
             return dx * dx + dz * dz;
@@ -204,9 +225,11 @@ public static class DetourCommon {
 
         /// Normalizes the vector.
         /// @param[in,out] v The vector to normalize. [(x, y, z)]
-    public static void vNormalize(float[] v) {
+        public static void vNormalize(float[] v)
-        float d = (float) (1.0f / Math.Sqrt(sqr(v[0]) + sqr(v[1]) + sqr(v[2])));
+        {
-        if (d != 0) {
+            float d = (float)(1.0f / Math.Sqrt(sqr(v[0]) + sqr(v[1]) + sqr(v[2])));
+            if (d != 0)
+            {
                 v[0] *= d;
                 v[1] *= d;
                 v[2] *= d;
@@ -222,11 +245,13 @@ public static class DetourCommon {
         ///
         /// Basically, this function will return true if the specified points are
         /// close enough to eachother to be considered colocated.
-    public static bool vEqual(float[] p0, float[] p1) {
+        public static bool vEqual(float[] p0, float[] p1)
+        {
             return vEqual(p0, p1, EQUAL_THRESHOLD);
         }
 
-    public static bool vEqual(float[] p0, float[] p1, float thresholdSqr) {
+        public static bool vEqual(float[] p0, float[] p1, float thresholdSqr)
+        {
             float d = vDistSqr(p0, p1);
             return d < thresholdSqr;
         }
@@ -238,11 +263,13 @@ public static class DetourCommon {
         ///
         /// The vectors are projected onto the xz-plane, so the y-values are
         /// ignored.
-    public static float vDot2D(float[] u, float[] v) {
+        public static float vDot2D(float[] u, float[] v)
+        {
             return u[0] * v[0] + u[2] * v[2];
         }
 
-    public static float vDot2D(float[] u, float[] v, int vi) {
+        public static float vDot2D(float[] u, float[] v, int vi)
+        {
             return u[0] * v[vi] + u[2] * v[vi + 2];
         }
 
@@ -253,21 +280,22 @@ public static class DetourCommon {
         ///
         /// The vectors are projected onto the xz-plane, so the y-values are
         /// ignored.
-    public static float vPerp2D(float[] u, float[] v) {
+        public static float vPerp2D(float[] u, float[] v)
+        {
             return u[2] * v[0] - u[0] * v[2];
         }
 
         /// @}
         /// @name Computational geometry helper functions.
         /// @{
-
         /// Derives the signed xz-plane area of the triangle ABC, or the
         /// relationship of line AB to point C.
         /// @param[in] a Vertex A. [(x, y, z)]
         /// @param[in] b Vertex B. [(x, y, z)]
         /// @param[in] c Vertex C. [(x, y, z)]
         /// @return The signed xz-plane area of the triangle.
-    public static float triArea2D(float[] verts, int a, int b, int c) {
+        public static float triArea2D(float[] verts, int a, int b, int c)
+        {
             float abx = verts[b] - verts[a];
             float abz = verts[b + 2] - verts[a + 2];
             float acx = verts[c] - verts[a];
@@ -275,7 +303,8 @@ public static class DetourCommon {
             return acx * abz - abx * acz;
         }
 
-    public static float triArea2D(float[] a, float[] b, float[] c) {
+        public static float triArea2D(float[] a, float[] b, float[] c)
+        {
             float abx = b[0] - a[0];
             float abz = b[2] - a[2];
             float acx = c[0] - a[0];
@@ -290,7 +319,8 @@ public static class DetourCommon {
         /// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
         /// @return True if the two AABB's overlap.
         /// @see dtOverlapBounds
-    public static bool overlapQuantBounds(int[] amin, int[] amax, int[] bmin, int[] bmax) {
+        public static bool overlapQuantBounds(int[] amin, int[] amax, int[] bmin, int[] bmax)
+        {
             bool overlap = true;
             overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
             overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
@@ -305,7 +335,8 @@ public static class DetourCommon {
         /// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
         /// @return True if the two AABB's overlap.
         /// @see dtOverlapQuantBounds
-    public static bool overlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax) {
+        public static bool overlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
+        {
             bool overlap = true;
             overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
             overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
@@ -313,48 +344,59 @@ public static class DetourCommon {
             return overlap;
         }
 
-    public static Tuple<float, float> distancePtSegSqr2D(float[] pt, float[] p, float[] q) {
+        public static Tuple<float, float> distancePtSegSqr2D(float[] pt, float[] p, float[] q)
+        {
             float pqx = q[0] - p[0];
             float pqz = q[2] - p[2];
             float dx = pt[0] - p[0];
             float dz = pt[2] - p[2];
             float d = pqx * pqx + pqz * pqz;
             float t = pqx * dx + pqz * dz;
-        if (d > 0) {
+            if (d > 0)
+            {
                 t /= d;
             }
-        if (t < 0) {
+
+            if (t < 0)
+            {
                 t = 0;
-        } else if (t > 1) {
+            }
+            else if (t > 1)
+            {
                 t = 1;
             }
+
             dx = p[0] + t * pqx - pt[0];
             dz = p[2] + t * pqz - pt[2];
             return Tuple.Create(dx * dx + dz * dz, t);
         }
 
-    public static float? closestHeightPointTriangle(float[] p, float[] a, float[] b, float[] c) {
+        public static float? closestHeightPointTriangle(float[] p, float[] a, float[] b, float[] c)
+        {
             float[] v0 = vSub(c, a);
             float[] v1 = vSub(b, a);
             float[] v2 = vSub(p, a);
 
             // Compute scaled barycentric coordinates
             float denom = v0[0] * v1[2] - v0[2] * v1[0];
-        if (Math.Abs(denom) < EPS) {
+            if (Math.Abs(denom) < EPS)
+            {
                 return null;
             }
 
             float u = v1[2] * v2[0] - v1[0] * v2[2];
             float v = v0[0] * v2[2] - v0[2] * v2[0];
 
-        if (denom < 0) {
+            if (denom < 0)
+            {
                 denom = -denom;
                 u = -u;
                 v = -v;
             }
 
             // If point lies inside the triangle, return interpolated ycoord.
-        if (u >= 0.0f && v >= 0.0f && (u + v) <= denom) {
+            if (u >= 0.0f && v >= 0.0f && (u + v) <= denom)
+            {
                 float h = a[1] + (v0[1] * u + v1[1] * v) / denom;
                 return h;
             }
@@ -365,51 +407,64 @@ public static class DetourCommon {
         /// @par
         ///
         /// All points are projected onto the xz-plane, so the y-values are ignored.
-    public static bool pointInPolygon(float[] pt, float[] verts, int nverts) {
+        public static bool pointInPolygon(float[] pt, float[] verts, int nverts)
+        {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
             bool c = false;
-        for (i = 0, j = nverts - 1; i < nverts; j = i++) {
+            for (i = 0, j = nverts - 1; i < nverts; j = i++)
+            {
                 int vi = i * 3;
                 int vj = j * 3;
                 if (((verts[vi + 2] > pt[2]) != (verts[vj + 2] > pt[2])) && (pt[0] < (verts[vj + 0] - verts[vi + 0])
-                    * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0])) {
+                        * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
+                {
                     c = !c;
                 }
             }
+
             return c;
         }
 
-    public static bool distancePtPolyEdgesSqr(float[] pt, float[] verts, int nverts, float[] ed, float[] et) {
+        public static bool distancePtPolyEdgesSqr(float[] pt, float[] verts, int nverts, float[] ed, float[] et)
+        {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
             bool c = false;
-        for (i = 0, j = nverts - 1; i < nverts; j = i++) {
+            for (i = 0, j = nverts - 1; i < nverts; j = i++)
+            {
                 int vi = i * 3;
                 int vj = j * 3;
                 if (((verts[vi + 2] > pt[2]) != (verts[vj + 2] > pt[2])) && (pt[0] < (verts[vj + 0] - verts[vi + 0])
-                    * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0])) {
+                        * (pt[2] - verts[vi + 2]) / (verts[vj + 2] - verts[vi + 2]) + verts[vi + 0]))
+                {
                     c = !c;
                 }
+
                 Tuple<float, float> edet = distancePtSegSqr2D(pt, verts, vj, vi);
                 ed[j] = edet.Item1;
                 et[j] = edet.Item2;
             }
+
             return c;
         }
 
-    public static float[] projectPoly(float[] axis, float[] poly, int npoly) {
+        public static float[] projectPoly(float[] axis, float[] poly, int npoly)
+        {
             float rmin, rmax;
             rmin = rmax = vDot2D(axis, poly, 0);
-        for (int i = 1; i < npoly; ++i) {
+            for (int i = 1; i < npoly; ++i)
+            {
                 float d = vDot2D(axis, poly, i * 3);
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }
+
             return new float[] { rmin, rmax };
         }
 
-    public static bool overlapRange(float amin, float amax, float bmin, float bmax, float eps) {
+        public static bool overlapRange(float amin, float amax, float bmin, float bmax, float eps)
+        {
             return ((amin + eps) > bmax || (amax - eps) < bmin) ? false : true;
         }
 
@@ -418,9 +473,10 @@ public static class DetourCommon {
         /// @par
         ///
         /// All vertices are projected onto the xz-plane, so the y-values are ignored.
-    public static bool overlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb) {
+        public static bool overlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb)
-
+        {
-        for (int i = 0, j = npolya - 1; i < npolya; j = i++) {
+            for (int i = 0, j = npolya - 1; i < npolya; j = i++)
+            {
                 int va = j * 3;
                 int vb = i * 3;
 
@@ -428,12 +484,15 @@ public static class DetourCommon {
 
                 float[] aminmax = projectPoly(n, polya, npolya);
                 float[] bminmax = projectPoly(n, polyb, npolyb);
-            if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps)) {
+                if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps))
+                {
                     // Found separating axis
                     return false;
                 }
             }
-        for (int i = 0, j = npolyb - 1; i < npolyb; j = i++) {
+
+            for (int i = 0, j = npolyb - 1; i < npolyb; j = i++)
+            {
                 int va = j * 3;
                 int vb = i * 3;
 
@@ -441,39 +500,47 @@ public static class DetourCommon {
 
                 float[] aminmax = projectPoly(n, polya, npolya);
                 float[] bminmax = projectPoly(n, polyb, npolyb);
-            if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps)) {
+                if (!overlapRange(aminmax[0], aminmax[1], bminmax[0], bminmax[1], eps))
+                {
                     // Found separating axis
                     return false;
                 }
             }
+
             return true;
         }
 
         // Returns a random point in a convex polygon.
         // Adapted from Graphics Gems article.
-    public static float[] randomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t) {
+        public static float[] randomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t)
+        {
             // Calc triangle araes
             float areasum = 0.0f;
-        for (int i = 2; i < npts; i++) {
+            for (int i = 2; i < npts; i++)
+            {
                 areas[i] = triArea2D(pts, 0, (i - 1) * 3, i * 3);
                 areasum += Math.Max(0.001f, areas[i]);
             }
+
             // Find sub triangle weighted by area.
             float thr = s * areasum;
             float acc = 0.0f;
             float u = 1.0f;
             int tri = npts - 1;
-        for (int i = 2; i < npts; i++) {
+            for (int i = 2; i < npts; i++)
+            {
                 float dacc = areas[i];
-            if (thr >= acc && thr < (acc + dacc)) {
+                if (thr >= acc && thr < (acc + dacc))
+                {
                     u = (thr - acc) / dacc;
                     tri = i;
                     break;
                 }
+
                 acc += dacc;
             }
 
-        float v = (float) Math.Sqrt(t);
+            float v = (float)Math.Sqrt(t);
 
             float a = 1 - v;
             float b = (1 - u) * v;
@@ -482,12 +549,16 @@ public static class DetourCommon {
             int pb = (tri - 1) * 3;
             int pc = tri * 3;
 
-        return new float[] { a * pts[pa] + b * pts[pb] + c * pts[pc],
+            return new float[]
+            {
+                a * pts[pa] + b * pts[pb] + c * pts[pc],
                 a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1],
-                a * pts[pa + 2] + b * pts[pb + 2] + c * pts[pc + 2] };
+                a * pts[pa + 2] + b * pts[pb + 2] + c * pts[pc + 2]
+            };
         }
 
-    public static int nextPow2(int v) {
+        public static int nextPow2(int v)
+        {
             v--;
             v |= v >> 1;
             v |= v >> 2;
@@ -498,7 +569,8 @@ public static class DetourCommon {
             return v;
         }
 
-    public static int ilog2(int v) {
+        public static int ilog2(int v)
+        {
             int r;
             int shift;
             r = (v > 0xffff ? 1 : 0) << 4;
@@ -516,7 +588,8 @@ public static class DetourCommon {
             return r;
         }
 
-    public class IntersectResult {
+        public class IntersectResult
+        {
             public bool intersects;
             public float tmin;
             public float tmax = 1f;
@@ -524,83 +597,107 @@ public static class DetourCommon {
             public int segMax = -1;
         }
 
-    public static IntersectResult intersectSegmentPoly2D(float[] p0, float[] p1, float[] verts, int nverts) {
+        public static IntersectResult intersectSegmentPoly2D(float[] p0, float[] p1, float[] verts, int nverts)
-
+        {
             IntersectResult result = new IntersectResult();
             float EPS = 0.00000001f;
             float[] dir = vSub(p1, p0);
 
             VectorPtr p0v = new VectorPtr(p0);
-        for (int i = 0, j = nverts - 1; i < nverts; j = i++) {
+            for (int i = 0, j = nverts - 1; i < nverts; j = i++)
+            {
                 VectorPtr vpj = new VectorPtr(verts, j * 3);
                 float[] edge = vSub(new VectorPtr(verts, i * 3), vpj);
                 float[] diff = vSub(p0v, vpj);
                 float n = vPerp2D(edge, diff);
                 float d = vPerp2D(dir, edge);
-            if (Math.Abs(d) < EPS) {
+                if (Math.Abs(d) < EPS)
+                {
                     // S is nearly parallel to this edge
-                if (n < 0) {
+                    if (n < 0)
+                    {
                         return result;
-                } else {
+                    }
+                    else
+                    {
                         continue;
                     }
                 }
+
                 float t = n / d;
-            if (d < 0) {
+                if (d < 0)
+                {
                     // segment S is entering across this edge
-                if (t > result.tmin) {
+                    if (t > result.tmin)
+                    {
                         result.tmin = t;
                         result.segMin = j;
                         // S enters after leaving polygon
-                    if (result.tmin > result.tmax) {
+                        if (result.tmin > result.tmax)
+                        {
                             return result;
                         }
                     }
-            } else {
+                }
+                else
+                {
                     // segment S is leaving across this edge
-                if (t < result.tmax) {
+                    if (t < result.tmax)
+                    {
                         result.tmax = t;
                         result.segMax = j;
                         // S leaves before entering polygon
-                    if (result.tmax < result.tmin) {
+                        if (result.tmax < result.tmin)
+                        {
                             return result;
                         }
                     }
                 }
             }
+
             result.intersects = true;
             return result;
         }
 
-    public static Tuple<float, float> distancePtSegSqr2D(float[] pt, float[] verts, int p, int q) {
+        public static Tuple<float, float> distancePtSegSqr2D(float[] pt, float[] verts, int p, int q)
+        {
             float pqx = verts[q + 0] - verts[p + 0];
             float pqz = verts[q + 2] - verts[p + 2];
             float dx = pt[0] - verts[p + 0];
             float dz = pt[2] - verts[p + 2];
             float d = pqx * pqx + pqz * pqz;
             float t = pqx * dx + pqz * dz;
-        if (d > 0) {
+            if (d > 0)
+            {
                 t /= d;
             }
-        if (t < 0) {
+
+            if (t < 0)
+            {
                 t = 0;
-        } else if (t > 1) {
+            }
+            else if (t > 1)
+            {
                 t = 1;
             }
+
             dx = verts[p + 0] + t * pqx - pt[0];
             dz = verts[p + 2] + t * pqz - pt[2];
             return Tuple.Create(dx * dx + dz * dz, t);
         }
 
-    public static int oppositeTile(int side) {
+        public static int oppositeTile(int side)
+        {
             return (side + 4) & 0x7;
         }
 
-    public static float vperpXZ(float[] a, float[] b) {
+        public static float vperpXZ(float[] a, float[] b)
+        {
             return a[0] * b[2] - a[2] * b[0];
         }
 
-    public static Tuple<float, float>? intersectSegSeg2D(float[] ap, float[] aq, float[] bp, float[] bq) {
+        public static Tuple<float, float>? intersectSegSeg2D(float[] ap, float[] aq, float[] bp, float[] bq)
+        {
             float[] u = vSub(aq, ap);
             float[] v = vSub(bq, bp);
             float[] w = vSub(ap, bp);
@@ -609,12 +706,14 @@ public static class DetourCommon {
             {
                 return null;
             }
+
             float s = vperpXZ(v, w) / d;
             float t = vperpXZ(u, w) / d;
             return Tuple.Create(s, t);
         }
 
-    public static float[] vScale(float[] @in, float scale) {
+        public static float[] vScale(float[] @in, float scale)
+        {
             float[] @out = new float[3];
             @out[0] = @in[0] * scale;
             @out[1] = @in[1] * scale;
@@ -626,16 +725,16 @@ public static class DetourCommon {
         /// @param[in] v A point. [(x, y, z)]
         /// @return True if all of the point's components are finite, i.e. not NaN
         /// or any of the infinities.
-    public static bool vIsFinite(float[] v) {
+        public static bool vIsFinite(float[] v)
+        {
             return float.IsFinite(v[0]) && float.IsFinite(v[1]) && float.IsFinite(v[2]);
         }
 
         /// Checks that the specified vector's 2D components are finite.
         /// @param[in] v A point. [(x, y, z)]
-    public static bool vIsFinite2D(float[] v) {
+        public static bool vIsFinite2D(float[] v)
+        {
             return float.IsFinite(v[0]) && float.IsFinite(v[2]);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/DotRecast.Detour.csproj

@@ -6,7 +6,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj" />
+        <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour/FindDistanceToWallResult.cs

@@ -17,33 +17,36 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
-
 //TODO: (PP) Add comments
-public class FindDistanceToWallResult {
+    public class FindDistanceToWallResult
+    {
         private readonly float distance;
         private readonly float[] position;
         private readonly float[] normal;
 
-    public FindDistanceToWallResult(float distance, float[] position, float[] normal) {
+        public FindDistanceToWallResult(float distance, float[] position, float[] normal)
+        {
             this.distance = distance;
             this.position = position;
             this.normal = normal;
         }
 
-    public float getDistance() {
+        public float getDistance()
+        {
             return distance;
         }
 
-    public float[] getPosition() {
+        public float[] getPosition()
+        {
             return position;
         }
 
-    public float[] getNormal() {
+        public float[] getNormal()
+        {
             return normal;
         }
-
+    }
-}
 }

src/DotRecast.Detour/FindLocalNeighbourhoodResult.cs

@@ -22,25 +22,26 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
-
 //TODO: (PP) Add comments
-public class FindLocalNeighbourhoodResult {
+    public class FindLocalNeighbourhoodResult
+    {
         private readonly List<long> refs;
         private readonly List<long> parentRefs;
 
-    public FindLocalNeighbourhoodResult(List<long> refs, List<long> parentRefs) {
+        public FindLocalNeighbourhoodResult(List<long> refs, List<long> parentRefs)
+        {
             this.@refs = refs;
             this.parentRefs = parentRefs;
         }
 
-    public List<long> getRefs() {
+        public List<long> getRefs()
+        {
             return refs;
         }
 
-    public List<long> getParentRefs() {
+        public List<long> getParentRefs()
+        {
             return parentRefs;
         }
-
+    }
-}
 }

src/DotRecast.Detour/FindNearestPolyQuery.cs

@@ -2,12 +2,10 @@ using System;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    public class FindNearestPolyQuery : PolyQuery
-using static DetourCommon;
+    {
-
-public class FindNearestPolyQuery : PolyQuery {
-
         private readonly NavMeshQuery query;
         private readonly float[] center;
         private long nearestRef;
@@ -15,14 +13,16 @@ public class FindNearestPolyQuery : PolyQuery {
         private bool overPoly;
         private float nearestDistanceSqr;
 
-    public FindNearestPolyQuery(NavMeshQuery query, float[] center) {
+        public FindNearestPolyQuery(NavMeshQuery query, float[] center)
+        {
             this.query = query;
             this.center = center;
             nearestDistanceSqr = float.MaxValue;
             nearestPt = new float[] { center[0], center[1], center[2] };
         }
 
-    public void process(MeshTile tile, Poly poly, long refs) {
+        public void process(MeshTile tile, Poly poly, long refs)
+        {
             // Find nearest polygon amongst the nearby polygons.
             Result<ClosestPointOnPolyResult> closest = query.closestPointOnPoly(refs, center);
             bool posOverPoly = closest.result.isPosOverPoly();
@@ -32,26 +32,28 @@ public class FindNearestPolyQuery : PolyQuery {
             // climb height, favor that instead of straight line nearest point.
             float d = 0;
             float[] diff = vSub(center, closestPtPoly);
-        if (posOverPoly) {
+            if (posOverPoly)
+            {
                 d = Math.Abs(diff[1]) - tile.data.header.walkableClimb;
                 d = d > 0 ? d * d : 0;
-        } else {
+            }
+            else
+            {
                 d = vLenSqr(diff);
             }
 
-        if (d < nearestDistanceSqr) {
+            if (d < nearestDistanceSqr)
+            {
                 nearestPt = closestPtPoly;
                 nearestDistanceSqr = d;
                 nearestRef = refs;
                 overPoly = posOverPoly;
             }
-
         }
 
-    public FindNearestPolyResult result() {
+        public FindNearestPolyResult result()
+        {
             return new FindNearestPolyResult(nearestRef, nearestPt, overPoly);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/FindNearestPolyResult.cs

@@ -17,35 +17,37 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class FindNearestPolyResult
-
+    {
-public class FindNearestPolyResult {
         private readonly long nearestRef;
         private readonly float[] nearestPos;
         private readonly bool overPoly;
 
-    public FindNearestPolyResult(long nearestRef, float[] nearestPos, bool overPoly) {
+        public FindNearestPolyResult(long nearestRef, float[] nearestPos, bool overPoly)
+        {
             this.nearestRef = nearestRef;
             this.nearestPos = nearestPos;
             this.overPoly = overPoly;
         }
 
         /** Returns the reference id of the nearest polygon. 0 if no polygon is found. */
-    public long getNearestRef() {
+        public long getNearestRef()
+        {
             return nearestRef;
         }
 
         /** Returns the nearest point on the polygon. [opt] [(x, y, z)]. Unchanged if no polygon is found. */
-    public float[] getNearestPos() {
+        public float[] getNearestPos()
+        {
             return nearestPos;
         }
 
-    public bool isOverPoly() {
+        public bool isOverPoly()
+        {
             return overPoly;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/FindPolysAroundResult.cs

@@ -22,32 +22,33 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
-
-
 // TODO: (PP) Add comments
-public class FindPolysAroundResult {
+    public class FindPolysAroundResult
+    {
         private readonly List<long> refs;
         private readonly List<long> parentRefs;
         private readonly List<float> costs;
 
-    public FindPolysAroundResult(List<long> refs, List<long> parentRefs, List<float> costs) {
+        public FindPolysAroundResult(List<long> refs, List<long> parentRefs, List<float> costs)
+        {
             this.@refs = refs;
             this.parentRefs = parentRefs;
             this.costs = costs;
         }
 
-    public List<long> getRefs() {
+        public List<long> getRefs()
+        {
             return refs;
         }
 
-    public List<long> getParentRefs() {
+        public List<long> getParentRefs()
+        {
             return parentRefs;
         }
 
-    public List<float> getCosts() {
+        public List<float> getCosts()
+        {
             return costs;
         }
-
+    }
-}
 }

src/DotRecast.Detour/FindRandomPointResult.cs

@@ -17,29 +17,31 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
-
 //TODO: (PP) Add comments
-public class FindRandomPointResult {
+    public class FindRandomPointResult
+    {
         private readonly long randomRef;
         private readonly float[] randomPt;
 
-    public FindRandomPointResult(long randomRef, float[] randomPt) {
+        public FindRandomPointResult(long randomRef, float[] randomPt)
+        {
             this.randomRef = randomRef;
             this.randomPt = randomPt;
         }
 
         /// @param[out] randomRef The reference id of the random location.
-    public long getRandomRef() {
+        public long getRandomRef()
+        {
             return randomRef;
         }
 
         /// @param[out] randomPt The random location.
-    public float[] getRandomPt() {
+        public float[] getRandomPt()
+        {
             return randomPt;
         }
-
+    }
-}
 }

src/DotRecast.Detour/GetPolyWallSegmentsResult.cs

@@ -22,27 +22,25 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    public class GetPolyWallSegmentsResult
-
+    {
-
-public class GetPolyWallSegmentsResult {
-
         private readonly List<float[]> segmentVerts;
         private readonly List<long> segmentRefs;
 
-    public GetPolyWallSegmentsResult(List<float[]> segmentVerts, List<long> segmentRefs) {
+        public GetPolyWallSegmentsResult(List<float[]> segmentVerts, List<long> segmentRefs)
+        {
             this.segmentVerts = segmentVerts;
             this.segmentRefs = segmentRefs;
         }
 
-    public List<float[]> getSegmentVerts() {
+        public List<float[]> getSegmentVerts()
+        {
             return segmentVerts;
         }
 
-    public List<long> getSegmentRefs() {
+        public List<long> getSegmentRefs()
+        {
             return segmentRefs;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/DetourWriter.cs

@@ -22,43 +22,54 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public abstract class DetourWriter
-
+    {
-public abstract class DetourWriter {
+        protected void write(BinaryWriter stream, float value, ByteOrder order)
-
+        {
-    protected void write(BinaryWriter stream, float value, ByteOrder order) {
             byte[] bytes = BitConverter.GetBytes(value);
             int i = BitConverter.ToInt32(bytes, 0);
             write(stream, i, order);
         }
 
-    protected void write(BinaryWriter stream, short value, ByteOrder order)  {
+        protected void write(BinaryWriter stream, short value, ByteOrder order)
-        if (order == ByteOrder.BIG_ENDIAN) {
+        {
+            if (order == ByteOrder.BIG_ENDIAN)
+            {
                 stream.Write((byte)((value >> 8) & 0xFF));
                 stream.Write((byte)(value & 0xFF));
-        } else {
+            }
+            else
+            {
                 stream.Write((byte)(value & 0xFF));
                 stream.Write((byte)((value >> 8) & 0xFF));
             }
         }
 
-    protected void write(BinaryWriter stream, long value, ByteOrder order)  {
+        protected void write(BinaryWriter stream, long value, ByteOrder order)
-        if (order == ByteOrder.BIG_ENDIAN) {
+        {
-            write(stream, (int) ((ulong)value >> 32), order);
+            if (order == ByteOrder.BIG_ENDIAN)
-            write(stream, (int) (value & 0xFFFFFFFF), order);
+            {
-        } else {
+                write(stream, (int)((ulong)value >> 32), order);
-            write(stream, (int) (value & 0xFFFFFFFF), order);
+                write(stream, (int)(value & 0xFFFFFFFF), order);
-            write(stream, (int) ((ulong)value >> 32), order);
+            }
+            else
+            {
+                write(stream, (int)(value & 0xFFFFFFFF), order);
+                write(stream, (int)((ulong)value >> 32), order);
             }
         }
 
-    protected void write(BinaryWriter stream, int value, ByteOrder order)  {
+        protected void write(BinaryWriter stream, int value, ByteOrder order)
-        if (order == ByteOrder.BIG_ENDIAN) {
+        {
+            if (order == ByteOrder.BIG_ENDIAN)
+            {
                 stream.Write((byte)((value >> 24) & 0xFF));
                 stream.Write((byte)((value >> 16) & 0xFF));
                 stream.Write((byte)((value >> 8) & 0xFF));
                 stream.Write((byte)(value & 0xFF));
-        } else {
+            }
+            else
+            {
                 stream.Write((byte)(value & 0xFF));
                 stream.Write((byte)((value >> 8) & 0xFF));
                 stream.Write((byte)((value >> 16) & 0xFF));
@@ -66,21 +77,22 @@ public abstract class DetourWriter {
             }
         }
 
-    protected void write(BinaryWriter stream, bool @bool)  {
+        protected void write(BinaryWriter stream, bool @bool)
-        write(stream, (byte) (@bool ? 1 : 0));
+        {
+            write(stream, (byte)(@bool ? 1 : 0));
         }
 
-    protected void write(BinaryWriter stream, byte value)  {
+        protected void write(BinaryWriter stream, byte value)
+        {
             stream.Write(value);
         }
 
-    protected void write(BinaryWriter stream, MemoryStream data) {
+        protected void write(BinaryWriter stream, MemoryStream data)
+        {
             data.Position = 0;
             byte[] buffer = new byte[data.Length];
             data.Read(buffer, 0, buffer.Length);
             stream.Write(buffer);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/IOUtils.cs

@@ -22,24 +22,26 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public static class IOUtils
-
+    {
-public static class IOUtils {
+        public static ByteBuffer toByteBuffer(BinaryReader @is, bool direct)
-
+        {
-	public static ByteBuffer toByteBuffer(BinaryReader @is, bool direct) {
             byte[] data = toByteArray(@is);
-		if (direct) {
+            if (direct)
+            {
                 Array.Reverse(data);
             }
 
             return new ByteBuffer(data);
         }
 
-	public static byte[] toByteArray(BinaryReader inputStream) {
+        public static byte[] toByteArray(BinaryReader inputStream)
+        {
             using var baos = new MemoryStream();
             byte[] buffer = new byte[4096];
             int l;
-		while ((l = inputStream.Read(buffer)) > 0) {
+            while ((l = inputStream.Read(buffer)) > 0)
+            {
                 baos.Write(buffer, 0, l);
             }
 
@@ -55,9 +57,8 @@ public static class IOUtils {
 
         public static int swapEndianness(int i)
         {
-		var s = (((uint)i >> 24) & 0xFF) | (((uint)i>>8) & 0xFF00) | (((uint)i<<8) & 0xFF0000) | ((i << 24) & 0xFF000000);
+            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
             return (int)s;
         }
-}
+    }
-
 }

src/DotRecast.Detour/Io/MeshDataReader.cs

@@ -21,27 +21,29 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public class MeshDataReader
-
+    {
-public class MeshDataReader {
-
         public const int DT_POLY_DETAIL_SIZE = 10;
 
-    public MeshData read(BinaryReader stream, int maxVertPerPoly) {
+        public MeshData read(BinaryReader stream, int maxVertPerPoly)
+        {
             ByteBuffer buf = IOUtils.toByteBuffer(stream);
             return read(buf, maxVertPerPoly, false);
         }
 
-    public MeshData read(ByteBuffer buf, int maxVertPerPoly) {
+        public MeshData read(ByteBuffer buf, int maxVertPerPoly)
+        {
             return read(buf, maxVertPerPoly, false);
         }
 
-    public MeshData read32Bit(BinaryReader stream, int maxVertPerPoly) {
+        public MeshData read32Bit(BinaryReader stream, int maxVertPerPoly)
+        {
             ByteBuffer buf = IOUtils.toByteBuffer(stream);
             return read(buf, maxVertPerPoly, true);
         }
 
-    public MeshData read32Bit(ByteBuffer buf, int maxVertPerPoly) {
+        public MeshData read32Bit(ByteBuffer buf, int maxVertPerPoly)
+        {
             return read(buf, maxVertPerPoly, true);
         }
 
@@ -51,20 +53,27 @@ public class MeshDataReader {
             MeshHeader header = new MeshHeader();
             data.header = header;
             header.magic = buf.getInt();
-        if (header.magic != MeshHeader.DT_NAVMESH_MAGIC) {
+            if (header.magic != MeshHeader.DT_NAVMESH_MAGIC)
+            {
                 header.magic = IOUtils.swapEndianness(header.magic);
-            if (header.magic != MeshHeader.DT_NAVMESH_MAGIC) {
+                if (header.magic != MeshHeader.DT_NAVMESH_MAGIC)
+                {
                     throw new IOException("Invalid magic");
                 }
+
                 buf.order(buf.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN);
             }
+
             header.version = buf.getInt();
-        if (header.version != MeshHeader.DT_NAVMESH_VERSION) {
+            if (header.version != MeshHeader.DT_NAVMESH_VERSION)
+            {
                 if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_FIRST
-                    || header.version > MeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST) {
+                    || header.version > MeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST)
+                {
                     throw new IOException("Invalid version " + header.version);
                 }
             }
+
             bool cCompatibility = header.version == MeshHeader.DT_NAVMESH_VERSION;
             header.x = buf.getInt();
             header.y = buf.getInt();
@@ -82,18 +91,24 @@ public class MeshDataReader {
             header.walkableHeight = buf.getFloat();
             header.walkableRadius = buf.getFloat();
             header.walkableClimb = buf.getFloat();
-        for (int j = 0; j < 3; j++) {
+            for (int j = 0; j < 3; j++)
+            {
                 header.bmin[j] = buf.getFloat();
             }
-        for (int j = 0; j < 3; j++) {
+
+            for (int j = 0; j < 3; j++)
+            {
                 header.bmax[j] = buf.getFloat();
             }
+
             header.bvQuantFactor = buf.getFloat();
             data.verts = readVerts(buf, header.vertCount);
             data.polys = readPolys(buf, header, maxVertPerPoly);
-        if (cCompatibility) {
+            if (cCompatibility)
+            {
                 buf.position(buf.position() + header.maxLinkCount * getSizeofLink(is32Bit));
             }
+
             data.detailMeshes = readPolyDetails(buf, header, cCompatibility);
             data.detailVerts = readVerts(buf, header.detailVertCount);
             data.detailTris = readDTris(buf, header);
@@ -105,101 +120,137 @@ public class MeshDataReader {
         public const int LINK_SIZEOF = 16;
         public const int LINK_SIZEOF32BIT = 12;
 
-    public static int getSizeofLink(bool is32Bit) {
+        public static int getSizeofLink(bool is32Bit)
+        {
             return is32Bit ? LINK_SIZEOF32BIT : LINK_SIZEOF;
         }
 
-    private float[] readVerts(ByteBuffer buf, int count) {
+        private float[] readVerts(ByteBuffer buf, int count)
+        {
             float[] verts = new float[count * 3];
-        for (int i = 0; i < verts.Length; i++) {
+            for (int i = 0; i < verts.Length; i++)
+            {
                 verts[i] = buf.getFloat();
             }
+
             return verts;
         }
 
-    private Poly[] readPolys(ByteBuffer buf, MeshHeader header, int maxVertPerPoly) {
+        private Poly[] readPolys(ByteBuffer buf, MeshHeader header, int maxVertPerPoly)
+        {
             Poly[] polys = new Poly[header.polyCount];
-        for (int i = 0; i < polys.Length; i++) {
+            for (int i = 0; i < polys.Length; i++)
+            {
                 polys[i] = new Poly(i, maxVertPerPoly);
-            if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK) {
+                if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
+                {
                     buf.getInt(); // polys[i].firstLink
                 }
-            for (int j = 0; j < polys[i].verts.Length; j++) {
+
+                for (int j = 0; j < polys[i].verts.Length; j++)
+                {
                     polys[i].verts[j] = buf.getShort() & 0xFFFF;
                 }
-            for (int j = 0; j < polys[i].neis.Length; j++) {
+
+                for (int j = 0; j < polys[i].neis.Length; j++)
+                {
                     polys[i].neis[j] = buf.getShort() & 0xFFFF;
                 }
+
                 polys[i].flags = buf.getShort() & 0xFFFF;
                 polys[i].vertCount = buf.get() & 0xFF;
                 polys[i].areaAndtype = buf.get() & 0xFF;
             }
+
             return polys;
         }
 
-    private PolyDetail[] readPolyDetails(ByteBuffer buf, MeshHeader header, bool cCompatibility) {
+        private PolyDetail[] readPolyDetails(ByteBuffer buf, MeshHeader header, bool cCompatibility)
+        {
             PolyDetail[] polys = new PolyDetail[header.detailMeshCount];
-        for (int i = 0; i < polys.Length; i++) {
+            for (int i = 0; i < polys.Length; i++)
+            {
                 polys[i] = new PolyDetail();
                 polys[i].vertBase = buf.getInt();
                 polys[i].triBase = buf.getInt();
                 polys[i].vertCount = buf.get() & 0xFF;
                 polys[i].triCount = buf.get() & 0xFF;
-            if (cCompatibility) {
+                if (cCompatibility)
+                {
                     buf.getShort(); // C struct padding
                 }
             }
+
             return polys;
         }
 
-    private int[] readDTris(ByteBuffer buf, MeshHeader header) {
+        private int[] readDTris(ByteBuffer buf, MeshHeader header)
+        {
             int[] tris = new int[4 * header.detailTriCount];
-        for (int i = 0; i < tris.Length; i++) {
+            for (int i = 0; i < tris.Length; i++)
+            {
                 tris[i] = buf.get() & 0xFF;
             }
+
             return tris;
         }
 
-    private BVNode[] readBVTree(ByteBuffer buf, MeshHeader header) {
+        private BVNode[] readBVTree(ByteBuffer buf, MeshHeader header)
+        {
             BVNode[] nodes = new BVNode[header.bvNodeCount];
-        for (int i = 0; i < nodes.Length; i++) {
+            for (int i = 0; i < nodes.Length; i++)
+            {
                 nodes[i] = new BVNode();
-            if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE) {
+                if (header.version < MeshHeader.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
-                for (int j = 0; j < 3; j++) {
+                {
+                    for (int j = 0; j < 3; j++)
+                    {
                         nodes[i].bmin[j] = buf.getShort() & 0xFFFF;
                     }
-                for (int j = 0; j < 3; j++) {
+
+                    for (int j = 0; j < 3; j++)
+                    {
                         nodes[i].bmax[j] = buf.getShort() & 0xFFFF;
                     }
-            } else {
+                }
-                for (int j = 0; j < 3; j++) {
+                else
+                {
+                    for (int j = 0; j < 3; j++)
+                    {
                         nodes[i].bmin[j] = buf.getInt();
                     }
-                for (int j = 0; j < 3; j++) {
+
+                    for (int j = 0; j < 3; j++)
+                    {
                         nodes[i].bmax[j] = buf.getInt();
                     }
                 }
+
                 nodes[i].i = buf.getInt();
             }
+
             return nodes;
         }
 
-    private OffMeshConnection[] readOffMeshCons(ByteBuffer buf, MeshHeader header) {
+        private OffMeshConnection[] readOffMeshCons(ByteBuffer buf, MeshHeader header)
+        {
             OffMeshConnection[] cons = new OffMeshConnection[header.offMeshConCount];
-        for (int i = 0; i < cons.Length; i++) {
+            for (int i = 0; i < cons.Length; i++)
+            {
                 cons[i] = new OffMeshConnection();
-            for (int j = 0; j < 6; j++) {
+                for (int j = 0; j < 6; j++)
+                {
                     cons[i].pos[j] = buf.getFloat();
                 }
+
                 cons[i].rad = buf.getFloat();
                 cons[i].poly = buf.getShort() & 0xFFFF;
                 cons[i].flags = buf.get() & 0xFF;
                 cons[i].side = buf.get() & 0xFF;
                 cons[i].userId = buf.getInt();
             }
+
             return cons;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/MeshDataWriter.cs

@@ -21,11 +21,10 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public class MeshDataWriter : DetourWriter
-
+    {
-public class MeshDataWriter : DetourWriter {
+        public void write(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility)
-
+        {
-    public void write(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) {
             MeshHeader header = data.header;
             write(stream, header.magic, order);
             write(stream, cCompatibility ? MeshHeader.DT_NAVMESH_VERSION : MeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST, order);
@@ -54,10 +53,12 @@ public class MeshDataWriter : DetourWriter {
             write(stream, header.bvQuantFactor, order);
             writeVerts(stream, data.verts, header.vertCount, order);
             writePolys(stream, data, order, cCompatibility);
-        if (cCompatibility) {
+            if (cCompatibility)
+            {
                 byte[] linkPlaceholder = new byte[header.maxLinkCount * MeshDataReader.getSizeofLink(false)];
                 stream.Write(linkPlaceholder);
             }
+
             writePolyDetails(stream, data, order, cCompatibility);
             writeVerts(stream, data.detailVerts, header.detailVertCount, order);
             writeDTris(stream, data);
@@ -65,24 +66,34 @@ public class MeshDataWriter : DetourWriter {
             writeOffMeshCons(stream, data, order);
         }
 
-    private void writeVerts(BinaryWriter stream, float[] verts, int count, ByteOrder order) {
+        private void writeVerts(BinaryWriter stream, float[] verts, int count, ByteOrder order)
-        for (int i = 0; i < count * 3; i++) {
+        {
+            for (int i = 0; i < count * 3; i++)
+            {
                 write(stream, verts[i], order);
             }
         }
 
-    private void writePolys(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) {
+        private void writePolys(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility)
-        for (int i = 0; i < data.header.polyCount; i++) {
+        {
-            if (cCompatibility) {
+            for (int i = 0; i < data.header.polyCount; i++)
+            {
+                if (cCompatibility)
+                {
                     write(stream, 0xFFFF, order);
                 }
-            for (int j = 0; j < data.polys[i].verts.Length; j++) {
+
-                write(stream, (short) data.polys[i].verts[j], order);
+                for (int j = 0; j < data.polys[i].verts.Length; j++)
+                {
+                    write(stream, (short)data.polys[i].verts[j], order);
                 }
-            for (int j = 0; j < data.polys[i].neis.Length; j++) {
+
-                write(stream, (short) data.polys[i].neis[j], order);
+                for (int j = 0; j < data.polys[i].neis.Length; j++)
+                {
+                    write(stream, (short)data.polys[i].neis[j], order);
                 }
-            write(stream, (short) data.polys[i].flags, order);
+
+                write(stream, (short)data.polys[i].flags, order);
                 write(stream, (byte)data.polys[i].vertCount);
                 write(stream, (byte)data.polys[i].areaAndtype);
             }
@@ -90,57 +101,75 @@ public class MeshDataWriter : DetourWriter {
 
         private void writePolyDetails(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility)
         {
-        for (int i = 0; i < data.header.detailMeshCount; i++) {
+            for (int i = 0; i < data.header.detailMeshCount; i++)
+            {
                 write(stream, data.detailMeshes[i].vertBase, order);
                 write(stream, data.detailMeshes[i].triBase, order);
                 write(stream, (byte)data.detailMeshes[i].vertCount);
                 write(stream, (byte)data.detailMeshes[i].triCount);
-            if (cCompatibility) {
+                if (cCompatibility)
-                write(stream, (short) 0, order);
+                {
+                    write(stream, (short)0, order);
                 }
             }
         }
 
-    private void writeDTris(BinaryWriter stream, MeshData data) {
+        private void writeDTris(BinaryWriter stream, MeshData data)
-        for (int i = 0; i < data.header.detailTriCount * 4; i++) {
+        {
+            for (int i = 0; i < data.header.detailTriCount * 4; i++)
+            {
                 write(stream, (byte)data.detailTris[i]);
             }
         }
 
-    private void writeBVTree(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility) {
+        private void writeBVTree(BinaryWriter stream, MeshData data, ByteOrder order, bool cCompatibility)
-        for (int i = 0; i < data.header.bvNodeCount; i++) {
+        {
-            if (cCompatibility) {
+            for (int i = 0; i < data.header.bvNodeCount; i++)
-                for (int j = 0; j < 3; j++) {
+            {
-                    write(stream, (short) data.bvTree[i].bmin[j], order);
+                if (cCompatibility)
+                {
+                    for (int j = 0; j < 3; j++)
+                    {
+                        write(stream, (short)data.bvTree[i].bmin[j], order);
                     }
-                for (int j = 0; j < 3; j++) {
+
-                    write(stream, (short) data.bvTree[i].bmax[j], order);
+                    for (int j = 0; j < 3; j++)
+                    {
+                        write(stream, (short)data.bvTree[i].bmax[j], order);
                     }
-            } else {
+                }
-                for (int j = 0; j < 3; j++) {
+                else
+                {
+                    for (int j = 0; j < 3; j++)
+                    {
                         write(stream, data.bvTree[i].bmin[j], order);
                     }
-                for (int j = 0; j < 3; j++) {
+
+                    for (int j = 0; j < 3; j++)
+                    {
                         write(stream, data.bvTree[i].bmax[j], order);
                     }
                 }
+
                 write(stream, data.bvTree[i].i, order);
             }
         }
 
-    private void writeOffMeshCons(BinaryWriter stream, MeshData data, ByteOrder order) {
+        private void writeOffMeshCons(BinaryWriter stream, MeshData data, ByteOrder order)
-        for (int i = 0; i < data.header.offMeshConCount; i++) {
+        {
-            for (int j = 0; j < 6; j++) {
+            for (int i = 0; i < data.header.offMeshConCount; i++)
+            {
+                for (int j = 0; j < 6; j++)
+                {
                     write(stream, data.offMeshCons[i].pos[j], order);
                 }
+
                 write(stream, data.offMeshCons[i].rad, order);
-            write(stream, (short) data.offMeshCons[i].poly, order);
+                write(stream, (short)data.offMeshCons[i].poly, order);
-            write(stream, (byte) data.offMeshCons[i].flags);
+                write(stream, (byte)data.offMeshCons[i].flags);
-            write(stream, (byte) data.offMeshCons[i].side);
+                write(stream, (byte)data.offMeshCons[i].side);
                 write(stream, data.offMeshCons[i].userId, order);
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/MeshSetReader.cs

@@ -22,98 +22,124 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DetourCommon;
 
 
-using static DetourCommon;
+    public class MeshSetReader
-
+    {
-
-public class MeshSetReader {
-
         private readonly MeshDataReader meshReader = new MeshDataReader();
         private readonly NavMeshParamReader paramReader = new NavMeshParamReader();
 
-    public NavMesh read(BinaryReader @is, int maxVertPerPoly) {
+        public NavMesh read(BinaryReader @is, int maxVertPerPoly)
+        {
             return read(IOUtils.toByteBuffer(@is), maxVertPerPoly, false);
         }
 
-    public NavMesh read(ByteBuffer bb, int maxVertPerPoly) {
+        public NavMesh read(ByteBuffer bb, int maxVertPerPoly)
+        {
             return read(bb, maxVertPerPoly, false);
         }
 
-    public NavMesh read32Bit(BinaryReader @is, int maxVertPerPoly) {
+        public NavMesh read32Bit(BinaryReader @is, int maxVertPerPoly)
+        {
             return read(IOUtils.toByteBuffer(@is), maxVertPerPoly, true);
         }
 
-    public NavMesh read32Bit(ByteBuffer bb, int maxVertPerPoly) {
+        public NavMesh read32Bit(ByteBuffer bb, int maxVertPerPoly)
+        {
             return read(bb, maxVertPerPoly, true);
         }
 
-    public NavMesh read(BinaryReader @is) {
+        public NavMesh read(BinaryReader @is)
+        {
             return read(IOUtils.toByteBuffer(@is));
         }
 
-    public NavMesh read(ByteBuffer bb) {
+        public NavMesh read(ByteBuffer bb)
+        {
             return read(bb, -1, false);
         }
 
-    NavMesh read(ByteBuffer bb, int maxVertPerPoly, bool is32Bit) {
+        NavMesh read(ByteBuffer bb, int maxVertPerPoly, bool is32Bit)
+        {
             NavMeshSetHeader header = readHeader(bb, maxVertPerPoly);
-        if (header.maxVertsPerPoly <= 0) {
+            if (header.maxVertsPerPoly <= 0)
+            {
                 throw new IOException("Invalid number of verts per poly " + header.maxVertsPerPoly);
             }
+
             bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION;
             NavMesh mesh = new NavMesh(header.option, header.maxVertsPerPoly);
             readTiles(bb, is32Bit, header, cCompatibility, mesh);
             return mesh;
         }
 
-    private NavMeshSetHeader readHeader(ByteBuffer bb, int maxVertsPerPoly) {
+        private NavMeshSetHeader readHeader(ByteBuffer bb, int maxVertsPerPoly)
+        {
             NavMeshSetHeader header = new NavMeshSetHeader();
             header.magic = bb.getInt();
-        if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC) {
+            if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
+            {
                 header.magic = IOUtils.swapEndianness(header.magic);
-            if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC) {
+                if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
+                {
                     throw new IOException("Invalid magic " + header.magic);
                 }
+
                 bb.order(bb.order() == ByteOrder.BIG_ENDIAN ? ByteOrder.LITTLE_ENDIAN : ByteOrder.BIG_ENDIAN);
             }
+
             header.version = bb.getInt();
             if (header.version != NavMeshSetHeader.NAVMESHSET_VERSION && header.version != NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J_1
-                && header.version != NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J) {
+                                                                      && header.version != NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J)
+            {
                 throw new IOException("Invalid version " + header.version);
             }
+
             header.numTiles = bb.getInt();
             header.option = paramReader.read(bb);
             header.maxVertsPerPoly = maxVertsPerPoly;
-        if (header.version == NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J) {
+            if (header.version == NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J)
+            {
                 header.maxVertsPerPoly = bb.getInt();
             }
+
             return header;
         }
 
         private void readTiles(ByteBuffer bb, bool is32Bit, NavMeshSetHeader header, bool cCompatibility, NavMesh mesh)
         {
             // Read tiles.
-        for (int i = 0; i < header.numTiles; ++i) {
+            for (int i = 0; i < header.numTiles; ++i)
+            {
                 NavMeshTileHeader tileHeader = new NavMeshTileHeader();
-            if (is32Bit) {
+                if (is32Bit)
+                {
                     tileHeader.tileRef = convert32BitRef(bb.getInt(), header.option);
-            } else {
+                }
+                else
+                {
                     tileHeader.tileRef = bb.getLong();
                 }
+
                 tileHeader.dataSize = bb.getInt();
-            if (tileHeader.tileRef == 0 || tileHeader.dataSize == 0) {
+                if (tileHeader.tileRef == 0 || tileHeader.dataSize == 0)
+                {
                     break;
                 }
-            if (cCompatibility && !is32Bit) {
+
+                if (cCompatibility && !is32Bit)
+                {
                     bb.getInt(); // C struct padding
                 }
+
                 MeshData data = meshReader.read(bb, mesh.getMaxVertsPerPoly(), is32Bit);
                 mesh.addTile(data, i, tileHeader.tileRef);
             }
         }
 
-    private long convert32BitRef(int refs, NavMeshParams option) {
+        private long convert32BitRef(int refs, NavMeshParams option)
+        {
             int m_tileBits = ilog2(nextPow2(option.maxTiles));
             int m_polyBits = ilog2(nextPow2(option.maxPolys));
             // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
@@ -126,6 +152,5 @@ public class MeshSetReader {
             int ip = refs & polyMask;
             return NavMesh.encodePolyId(salt, it, ip);
         }
-}
+    }
-
 }

src/DotRecast.Detour/Io/MeshSetWriter.cs

@@ -21,40 +21,48 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public class MeshSetWriter : DetourWriter
-
+    {
-public class MeshSetWriter : DetourWriter {
-
         private readonly MeshDataWriter writer = new MeshDataWriter();
         private readonly NavMeshParamWriter paramWriter = new NavMeshParamWriter();
 
-    public void write(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) {
+        public void write(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility)
+        {
             writeHeader(stream, mesh, order, cCompatibility);
             writeTiles(stream, mesh, order, cCompatibility);
         }
 
-    private void writeHeader(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) {
+        private void writeHeader(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility)
+        {
             write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
             write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
             int numTiles = 0;
-        for (int i = 0; i < mesh.getMaxTiles(); ++i) {
+            for (int i = 0; i < mesh.getMaxTiles(); ++i)
+            {
                 MeshTile tile = mesh.getTile(i);
-            if (tile == null || tile.data == null || tile.data.header == null) {
+                if (tile == null || tile.data == null || tile.data.header == null)
+                {
                     continue;
                 }
+
                 numTiles++;
             }
+
             write(stream, numTiles, order);
             paramWriter.write(stream, mesh.getParams(), order);
-        if (!cCompatibility) {
+            if (!cCompatibility)
+            {
                 write(stream, mesh.getMaxVertsPerPoly(), order);
             }
         }
 
-    private void writeTiles(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility) {
+        private void writeTiles(BinaryWriter stream, NavMesh mesh, ByteOrder order, bool cCompatibility)
-        for (int i = 0; i < mesh.getMaxTiles(); ++i) {
+        {
+            for (int i = 0; i < mesh.getMaxTiles(); ++i)
+            {
                 MeshTile tile = mesh.getTile(i);
-            if (tile == null || tile.data == null || tile.data.header == null) {
+                if (tile == null || tile.data == null || tile.data.header == null)
+                {
                     continue;
                 }
 
@@ -70,13 +78,13 @@ public class MeshSetWriter : DetourWriter {
                 tileHeader.dataSize = ba.Length;
                 write(stream, tileHeader.tileRef, order);
                 write(stream, tileHeader.dataSize, order);
-            if (cCompatibility) {
+                if (cCompatibility)
+                {
                     write(stream, 0, order); // C struct padding
                 }
+
                 stream.Write(ba);
             }
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/NavMeshParamReader.cs

@@ -2,11 +2,10 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public class NavMeshParamReader
-
+    {
-public class NavMeshParamReader {
+        public NavMeshParams read(ByteBuffer bb)
-
+        {
-	public NavMeshParams read(ByteBuffer bb) {
             NavMeshParams option = new NavMeshParams();
             option.orig[0] = bb.getFloat();
             option.orig[1] = bb.getFloat();
@@ -17,7 +16,5 @@ public class NavMeshParamReader {
             option.maxPolys = bb.getInt();
             return option;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/NavMeshParamWriter.cs

@@ -3,11 +3,10 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-
+    public class NavMeshParamWriter : DetourWriter
-
+    {
-public class NavMeshParamWriter : DetourWriter {
+        public void write(BinaryWriter stream, NavMeshParams option, ByteOrder order)
-
+        {
-	public void write(BinaryWriter stream, NavMeshParams option, ByteOrder order)  {
             write(stream, option.orig[0], order);
             write(stream, option.orig[1], order);
             write(stream, option.orig[2], order);
@@ -16,7 +15,5 @@ public class NavMeshParamWriter : DetourWriter {
             write(stream, option.maxTiles, order);
             write(stream, option.maxPolys, order);
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/NavMeshSetHeader.cs

@@ -15,12 +15,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour.Io
 {
-
+    public class NavMeshSetHeader
-
+    {
-public class NavMeshSetHeader {
-
         public const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'MSET';
         public const int NAVMESHSET_VERSION = 1;
         public const int NAVMESHSET_VERSION_RECAST4J_1 = 0x8801;
@@ -31,7 +30,5 @@ public class NavMeshSetHeader {
         public int numTiles;
         public NavMeshParams option = new NavMeshParams();
         public int maxVertsPerPoly;
-
+    }
-}
-
 }

src/DotRecast.Detour/Io/NavMeshTileHeader.cs

@@ -1,10 +1,8 @@
 namespace DotRecast.Detour.Io
 {
-
+    public class NavMeshTileHeader
-
+    {
-public class NavMeshTileHeader {
         public long tileRef;
         public int dataSize;
-}
+    }
-
 }

src/DotRecast.Detour/LegacyNavMeshQuery.cs

@@ -21,32 +21,35 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
 
-using static DetourCommon;
+    public class LegacyNavMeshQuery : NavMeshQuery
-
+    {
-
-public class LegacyNavMeshQuery : NavMeshQuery {
-
         private static float H_SCALE = 0.999f; // Search heuristic scale.
 
-    public LegacyNavMeshQuery(NavMesh nav) : base(nav) {
+        public LegacyNavMeshQuery(NavMesh nav) : base(nav)
+        {
         }
 
         public override Result<List<long>> findPath(long startRef, long endRef, float[] startPos, float[] endPos, QueryFilter filter,
-            int options, float raycastLimit) {
+            int options, float raycastLimit)
+        {
             return findPath(startRef, endRef, startPos, endPos, filter);
         }
 
         public override Result<List<long>> findPath(long startRef, long endRef, float[] startPos, float[] endPos,
-            QueryFilter filter) {
+            QueryFilter filter)
+        {
             // Validate input
             if (!m_nav.isValidPolyRef(startRef) || !m_nav.isValidPolyRef(endRef) || null == startPos
-                || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) || null == filter) {
+                || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos) || null == filter)
+            {
                 return Results.invalidParam<List<long>>();
             }
 
-        if (startRef == endRef) {
+            if (startRef == endRef)
+            {
                 List<long> singlePath = new List<long>(1);
                 singlePath.Add(startRef);
                 return Results.success(singlePath);
@@ -69,14 +72,16 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
             Status status = Status.SUCCSESS;
 
-        while (!m_openList.isEmpty()) {
+            while (!m_openList.isEmpty())
+            {
                 // Remove node from open list and put it in closed list.
                 Node bestNode = m_openList.pop();
                 bestNode.flags &= ~Node.DT_NODE_OPEN;
                 bestNode.flags |= Node.DT_NODE_CLOSED;
 
                 // Reached the goal, stop searching.
-            if (bestNode.id == endRef) {
+                if (bestNode.id == endRef)
+                {
                     lastBestNode = bestNode;
                     break;
                 }
@@ -92,20 +97,25 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                 long parentRef = 0;
                 MeshTile parentTile = null;
                 Poly parentPoly = null;
-            if (bestNode.pidx != 0) {
+                if (bestNode.pidx != 0)
+                {
                     parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id;
                 }
-            if (parentRef != 0) {
+
+                if (parentRef != 0)
+                {
                     tileAndPoly = m_nav.getTileAndPolyByRefUnsafe(parentRef);
                     parentTile = tileAndPoly.Item1;
                     parentPoly = tileAndPoly.Item2;
                 }
 
-            for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) {
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                {
                     long neighbourRef = bestTile.links[i].refs;
 
                     // Skip invalid ids and do not expand back to where we came from.
-                if (neighbourRef == 0 || neighbourRef == parentRef) {
+                    if (neighbourRef == 0 || neighbourRef == parentRef)
+                    {
                         continue;
                     }
 
@@ -115,13 +125,15 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     MeshTile neighbourTile = tileAndPoly.Item1;
                     Poly neighbourPoly = tileAndPoly.Item2;
 
-                if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) {
+                    if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly))
+                    {
                         continue;
                     }
 
                     // deal explicitly with crossing tile boundaries
                     int crossSide = 0;
-                if (bestTile.links[i].side != 0xff) {
+                    if (bestTile.links[i].side != 0xff)
+                    {
                         crossSide = bestTile.links[i].side >> 1;
                     }
 
@@ -129,10 +141,12 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     Node neighbourNode = m_nodePool.getNode(neighbourRef, crossSide);
 
                     // If the node is visited the first time, calculate node position.
-                if (neighbourNode.flags == 0) {
+                    if (neighbourNode.flags == 0)
+                    {
                         Result<float[]> midpod = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly,
                             neighbourTile);
-                    if (!midpod.failed()) {
+                        if (!midpod.failed())
+                        {
                             neighbourNode.pos = midpod.result;
                         }
                     }
@@ -142,7 +156,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     float heuristic = 0;
 
                     // Special case for last node.
-                if (neighbourRef == endRef) {
+                    if (neighbourRef == endRef)
+                    {
                         // Cost
                         float curCost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
                             bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
@@ -151,7 +166,9 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                         cost = bestNode.cost + curCost + endCost;
                         heuristic = 0;
-                } else {
+                    }
+                    else
+                    {
                         // Cost
                         float curCost = filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
                             bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
@@ -162,11 +179,14 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     float total = cost + heuristic;
 
                     // The node is already in open list and the new result is worse, skip.
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
+                    {
                         continue;
                     }
+
                     // The node is already visited and process, and the new result is worse, skip.
-                if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) {
+                    if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total)
+                    {
                         continue;
                     }
 
@@ -177,17 +197,21 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     neighbourNode.cost = cost;
                     neighbourNode.total = total;
 
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0)
+                    {
                         // Already in open, update node location.
                         m_openList.modify(neighbourNode);
-                } else {
+                    }
+                    else
+                    {
                         // Put the node in open list.
                         neighbourNode.flags |= Node.DT_NODE_OPEN;
                         m_openList.push(neighbourNode);
                     }
 
                     // Update nearest node to target so far.
-                if (heuristic < lastBestNodeCost) {
+                    if (heuristic < lastBestNodeCost)
+                    {
                         lastBestNodeCost = heuristic;
                         lastBestNode = neighbourNode;
                     }
@@ -196,7 +220,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
             List<long> path = getPathToNode(lastBestNode);
 
-        if (lastBestNode.id != endRef) {
+            if (lastBestNode.id != endRef)
+            {
                 status = Status.PARTIAL_RESULT;
             }
 
@@ -210,19 +235,23 @@ public class LegacyNavMeshQuery : NavMeshQuery {
      *            The maximum number of iterations to perform.
      * @return The status flags for the query.
      */
-    public override Result<int> updateSlicedFindPath(int maxIter) {
+        public override Result<int> updateSlicedFindPath(int maxIter)
-        if (!m_query.status.isInProgress()) {
+        {
+            if (!m_query.status.isInProgress())
+            {
                 return Results.of(m_query.status, 0);
             }
 
             // Make sure the request is still valid.
-        if (!m_nav.isValidPolyRef(m_query.startRef) || !m_nav.isValidPolyRef(m_query.endRef)) {
+            if (!m_nav.isValidPolyRef(m_query.startRef) || !m_nav.isValidPolyRef(m_query.endRef))
+            {
                 m_query.status = Status.FAILURE;
                 return Results.of(m_query.status, 0);
             }
 
             int iter = 0;
-        while (iter < maxIter && !m_openList.isEmpty()) {
+            while (iter < maxIter && !m_openList.isEmpty())
+            {
                 iter++;
 
                 // Remove node from open list and put it in closed list.
@@ -231,7 +260,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                 bestNode.flags |= Node.DT_NODE_CLOSED;
 
                 // Reached the goal, stop searching.
-            if (bestNode.id == m_query.endRef) {
+                if (bestNode.id == m_query.endRef)
+                {
                     m_query.lastBestNode = bestNode;
                     m_query.status = Status.SUCCSESS;
                     return Results.of(m_query.status, iter);
@@ -242,11 +272,13 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                 // data.
                 long bestRef = bestNode.id;
                 Result<Tuple<MeshTile, Poly>> tileAndPoly = m_nav.getTileAndPolyByRef(bestRef);
-            if (tileAndPoly.failed()) {
+                if (tileAndPoly.failed())
+                {
                     m_query.status = Status.FAILURE;
                     // The polygon has disappeared during the sliced query, fail.
                     return Results.of(m_query.status, iter);
                 }
+
                 MeshTile bestTile = tileAndPoly.result.Item1;
                 Poly bestPoly = tileAndPoly.result.Item2;
                 // Get parent and grand parent poly and tile.
@@ -254,41 +286,51 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                 MeshTile parentTile = null;
                 Poly parentPoly = null;
                 Node parentNode = null;
-            if (bestNode.pidx != 0) {
+                if (bestNode.pidx != 0)
+                {
                     parentNode = m_nodePool.getNodeAtIdx(bestNode.pidx);
                     parentRef = parentNode.id;
-                if (parentNode.pidx != 0) {
+                    if (parentNode.pidx != 0)
+                    {
                         grandpaRef = m_nodePool.getNodeAtIdx(parentNode.pidx).id;
                     }
                 }
-            if (parentRef != 0) {
+
+                if (parentRef != 0)
+                {
                     bool invalidParent = false;
                     tileAndPoly = m_nav.getTileAndPolyByRef(parentRef);
                     invalidParent = tileAndPoly.failed();
-                if (invalidParent || (grandpaRef != 0 && !m_nav.isValidPolyRef(grandpaRef))) {
+                    if (invalidParent || (grandpaRef != 0 && !m_nav.isValidPolyRef(grandpaRef)))
+                    {
                         // The polygon has disappeared during the sliced query,
                         // fail.
                         m_query.status = Status.FAILURE;
                         return Results.of(m_query.status, iter);
                     }
+
                     parentTile = tileAndPoly.result.Item1;
                     parentPoly = tileAndPoly.result.Item2;
                 }
 
                 // decide whether to test raycast to previous nodes
                 bool tryLOS = false;
-            if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0) {
+                if ((m_query.options & DT_FINDPATH_ANY_ANGLE) != 0)
-                if ((parentRef != 0) && (vDistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr)) {
+                {
+                    if ((parentRef != 0) && (vDistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
+                    {
                         tryLOS = true;
                     }
                 }
 
-            for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) {
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                {
                     long neighbourRef = bestTile.links[i].refs;
 
                     // Skip invalid ids and do not expand back to where we came
                     // from.
-                if (neighbourRef == 0 || neighbourRef == parentRef) {
+                    if (neighbourRef == 0 || neighbourRef == parentRef)
+                    {
                         continue;
                     }
 
@@ -299,7 +341,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     MeshTile neighbourTile = tileAndPolyUns.Item1;
                     Poly neighbourPoly = tileAndPolyUns.Item2;
 
-                if (!m_query.filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) {
+                    if (!m_query.filter.passFilter(neighbourRef, neighbourTile, neighbourPoly))
+                    {
                         continue;
                     }
 
@@ -308,16 +351,19 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                     // do not expand to nodes that were already visited from the
                     // same parent
-                if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx) {
+                    if (neighbourNode.pidx != 0 && neighbourNode.pidx == bestNode.pidx)
+                    {
                         continue;
                     }
 
                     // If the node is visited the first time, calculate node
                     // position.
-                if (neighbourNode.flags == 0) {
+                    if (neighbourNode.flags == 0)
+                    {
                         Result<float[]> midpod = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly,
                             neighbourTile);
-                    if (!midpod.failed()) {
+                        if (!midpod.failed())
+                        {
                             neighbourNode.pos = midpod.result;
                         }
                     }
@@ -328,12 +374,15 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                     // raycast parent
                     bool foundShortCut = false;
-                if (tryLOS) {
+                    if (tryLOS)
+                    {
                         Result<RaycastHit> rayHit = raycast(parentRef, parentNode.pos, neighbourNode.pos, m_query.filter,
                             DT_RAYCAST_USE_COSTS, grandpaRef);
-                    if (rayHit.succeeded()) {
+                        if (rayHit.succeeded())
+                        {
                             foundShortCut = rayHit.result.t >= 1.0f;
-                        if (foundShortCut) {
+                            if (foundShortCut)
+                            {
                                 // shortcut found using raycast. Using shorter cost
                                 // instead
                                 cost = parentNode.cost + rayHit.result.pathCost;
@@ -342,7 +391,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     }
 
                     // update move cost
-                if (!foundShortCut) {
+                    if (!foundShortCut)
+                    {
                         // No shortcut found.
                         float curCost = m_query.filter.getCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile,
                             parentPoly, bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
@@ -350,13 +400,16 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     }
 
                     // Special case for last node.
-                if (neighbourRef == m_query.endRef) {
+                    if (neighbourRef == m_query.endRef)
+                    {
                         float endCost = m_query.filter.getCost(neighbourNode.pos, m_query.endPos, bestRef, bestTile,
                             bestPoly, neighbourRef, neighbourTile, neighbourPoly, 0, null, null);
 
                         cost = cost + endCost;
                         heuristic = 0;
-                } else {
+                    }
+                    else
+                    {
                         heuristic = vDist(neighbourNode.pos, m_query.endPos) * H_SCALE;
                     }
 
@@ -364,12 +417,15 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                     // The node is already in open list and the new result is worse,
                     // skip.
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
+                    {
                         continue;
                     }
+
                     // The node is already visited and process, and the new result
                     // is worse, skip.
-                if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total) {
+                    if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0 && total >= neighbourNode.total)
+                    {
                         continue;
                     }
 
@@ -379,21 +435,26 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     neighbourNode.flags = (neighbourNode.flags & ~(Node.DT_NODE_CLOSED | Node.DT_NODE_PARENT_DETACHED));
                     neighbourNode.cost = cost;
                     neighbourNode.total = total;
-                if (foundShortCut) {
+                    if (foundShortCut)
+                    {
                         neighbourNode.flags = (neighbourNode.flags | Node.DT_NODE_PARENT_DETACHED);
                     }
 
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0)
+                    {
                         // Already in open, update node location.
                         m_openList.modify(neighbourNode);
-                } else {
+                    }
+                    else
+                    {
                         // Put the node in open list.
                         neighbourNode.flags |= Node.DT_NODE_OPEN;
                         m_openList.push(neighbourNode);
                     }
 
                     // Update nearest node to target so far.
-                if (heuristic < m_query.lastBestNodeCost) {
+                    if (heuristic < m_query.lastBestNodeCost)
+                    {
                         m_query.lastBestNodeCost = heuristic;
                         m_query.lastBestNode = neighbourNode;
                     }
@@ -401,7 +462,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
             }
 
             // Exhausted all nodes, but could not find path.
-        if (m_openList.isEmpty()) {
+            if (m_openList.isEmpty())
+            {
                 m_query.status = Status.PARTIAL_RESULT;
             }
 
@@ -412,28 +474,34 @@ public class LegacyNavMeshQuery : NavMeshQuery {
         /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
         /// [(polyRef) * @p pathCount]
         /// @returns The status flags for the query.
-    public override Result<List<long>> finalizeSlicedFindPath() {
+        public override Result<List<long>> finalizeSlicedFindPath()
-
+        {
             List<long> path = new List<long>(64);
-        if (m_query.status.isFailed()) {
+            if (m_query.status.isFailed())
+            {
                 // Reset query.
                 m_query = new QueryData();
                 return Results.failure(path);
             }
 
-        if (m_query.startRef == m_query.endRef) {
+            if (m_query.startRef == m_query.endRef)
+            {
                 // Special case: the search starts and ends at same poly.
                 path.Add(m_query.startRef);
-        } else {
+            }
+            else
+            {
                 // Reverse the path.
-            if (m_query.lastBestNode.id != m_query.endRef) {
+                if (m_query.lastBestNode.id != m_query.endRef)
+                {
                     m_query.status = Status.PARTIAL_RESULT;
                 }
 
                 Node prev = null;
                 Node node = m_query.lastBestNode;
                 int prevRay = 0;
-            do {
+                do
+                {
                     Node next = m_nodePool.getNodeAtIdx(node.pidx);
                     node.pidx = m_nodePool.getNodeIdx(prev);
                     prev = node;
@@ -447,18 +515,25 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                 // Store path
                 node = prev;
-            do {
+                do
+                {
                     Node next = m_nodePool.getNodeAtIdx(node.pidx);
-                if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0) {
+                    if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0)
+                    {
                         Result<RaycastHit> iresult = raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0);
-                    if (iresult.succeeded()) {
+                        if (iresult.succeeded())
+                        {
                             path.AddRange(iresult.result.path);
                         }
+
                         // raycast ends on poly boundary and the path might include the next poly boundary.
-                    if (path[path.Count - 1] == next.id) {
+                        if (path[path.Count - 1] == next.id)
+                        {
                             path.RemoveAt(path.Count - 1); // remove to avoid duplicates
                         }
-                } else {
+                    }
+                    else
+                    {
                         path.Add(node.id);
                     }
 
@@ -480,39 +555,50 @@ public class LegacyNavMeshQuery : NavMeshQuery {
         /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
         /// [(polyRef) * @p pathCount]
         /// @returns The status flags for the query.
-    public override Result<List<long>> finalizeSlicedFindPathPartial(List<long> existing) {
+        public override Result<List<long>> finalizeSlicedFindPathPartial(List<long> existing)
-
+        {
             List<long> path = new List<long>(64);
-        if (null == existing || existing.Count <= 0) {
+            if (null == existing || existing.Count <= 0)
+            {
                 return Results.failure(path);
             }
-        if (m_query.status.isFailed()) {
+
+            if (m_query.status.isFailed())
+            {
                 // Reset query.
                 m_query = new QueryData();
                 return Results.failure(path);
             }
-        if (m_query.startRef == m_query.endRef) {
+
+            if (m_query.startRef == m_query.endRef)
+            {
                 // Special case: the search starts and ends at same poly.
                 path.Add(m_query.startRef);
-        } else {
+            }
+            else
+            {
                 // Find furthest existing node that was visited.
                 Node prev = null;
                 Node node = null;
-            for (int i = existing.Count - 1; i >= 0; --i) {
+                for (int i = existing.Count - 1; i >= 0; --i)
+                {
                     node = m_nodePool.findNode(existing[i]);
-                if (node != null) {
+                    if (node != null)
+                    {
                         break;
                     }
                 }
 
-            if (node == null) {
+                if (node == null)
+                {
                     m_query.status = Status.PARTIAL_RESULT;
                     node = m_query.lastBestNode;
                 }
 
                 // Reverse the path.
                 int prevRay = 0;
-            do {
+                do
+                {
                     Node next = m_nodePool.getNodeAtIdx(node.pidx);
                     node.pidx = m_nodePool.getNodeIdx(prev);
                     prev = node;
@@ -526,24 +612,32 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                 // Store path
                 node = prev;
-            do {
+                do
+                {
                     Node next = m_nodePool.getNodeAtIdx(node.pidx);
-                if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0) {
+                    if ((node.flags & Node.DT_NODE_PARENT_DETACHED) != 0)
+                    {
                         Result<RaycastHit> iresult = raycast(node.id, node.pos, next.pos, m_query.filter, 0, 0);
-                    if (iresult.succeeded()) {
+                        if (iresult.succeeded())
+                        {
                             path.AddRange(iresult.result.path);
                         }
+
                         // raycast ends on poly boundary and the path might include the next poly boundary.
-                    if (path[path.Count - 1] == next.id) {
+                        if (path[path.Count - 1] == next.id)
+                        {
                             path.RemoveAt(path.Count - 1); // remove to avoid duplicates
                         }
-                } else {
+                    }
+                    else
+                    {
                         path.Add(node.id);
                     }
 
                     node = next;
                 } while (node != null);
             }
+
             Status status = m_query.status;
             // Reset query.
             m_query = new QueryData();
@@ -552,11 +646,12 @@ public class LegacyNavMeshQuery : NavMeshQuery {
         }
 
         public override Result<FindDistanceToWallResult> findDistanceToWall(long startRef, float[] centerPos, float maxRadius,
-            QueryFilter filter) {
+            QueryFilter filter)
-
+        {
             // Validate input
             if (!m_nav.isValidPolyRef(startRef) || null == centerPos || !vIsFinite(centerPos) || maxRadius < 0
-                || !float.IsFinite(maxRadius) || null == filter) {
+                || !float.IsFinite(maxRadius) || null == filter)
+            {
                 return Results.invalidParam<FindDistanceToWallResult>();
             }
 
@@ -576,7 +671,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
             float[] hitPos = new float[3];
             VectorPtr bestvj = null;
             VectorPtr bestvi = null;
-        while (!m_openList.isEmpty()) {
+            while (!m_openList.isEmpty())
+            {
                 Node bestNode = m_openList.pop();
                 bestNode.flags &= ~Node.DT_NODE_OPEN;
                 bestNode.flags |= Node.DT_NODE_CLOSED;
@@ -590,38 +686,51 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
                 // Get parent poly and tile.
                 long parentRef = 0;
-            if (bestNode.pidx != 0) {
+                if (bestNode.pidx != 0)
+                {
                     parentRef = m_nodePool.getNodeAtIdx(bestNode.pidx).id;
                 }
 
                 // Hit test walls.
-            for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++) {
+                for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++)
+                {
                     // Skip non-solid edges.
-                if ((bestPoly.neis[j] & NavMesh.DT_EXT_LINK) != 0) {
+                    if ((bestPoly.neis[j] & NavMesh.DT_EXT_LINK) != 0)
+                    {
                         // Tile border.
                         bool solid = true;
-                    for (int k = bestTile.polyLinks[bestPoly.index]; k != NavMesh.DT_NULL_LINK; k = bestTile.links[k].next) {
+                        for (int k = bestTile.polyLinks[bestPoly.index]; k != NavMesh.DT_NULL_LINK; k = bestTile.links[k].next)
+                        {
                             Link link = bestTile.links[k];
-                        if (link.edge == j) {
+                            if (link.edge == j)
-                            if (link.refs != 0) {
+                            {
+                                if (link.refs != 0)
+                                {
                                     Tuple<MeshTile, Poly> linkTileAndPoly = m_nav.getTileAndPolyByRefUnsafe(link.refs);
                                     MeshTile neiTile = linkTileAndPoly.Item1;
                                     Poly neiPoly = linkTileAndPoly.Item2;
-                                if (filter.passFilter(link.refs, neiTile, neiPoly)) {
+                                    if (filter.passFilter(link.refs, neiTile, neiPoly))
+                                    {
                                         solid = false;
                                     }
                                 }
+
                                 break;
                             }
                         }
-                    if (!solid) {
+
+                        if (!solid)
+                        {
                             continue;
                         }
-                } else if (bestPoly.neis[j] != 0) {
+                    }
+                    else if (bestPoly.neis[j] != 0)
+                    {
                         // Internal edge
                         int idx = (bestPoly.neis[j] - 1);
                         long refs = m_nav.getPolyRefBase(bestTile) | idx;
-                    if (filter.passFilter(refs, bestTile, bestTile.data.polys[idx])) {
+                        if (filter.passFilter(refs, bestTile, bestTile.data.polys[idx]))
+                        {
                             continue;
                         }
                     }
@@ -634,7 +743,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     float tseg = distseg.Item2;
 
                     // Edge is too far, skip.
-                if (distSqr > radiusSqr) {
+                    if (distSqr > radiusSqr)
+                    {
                         continue;
                     }
 
@@ -650,11 +760,13 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     bestvi = new VectorPtr(bestTile.data.verts, vi);
                 }
 
-            for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next) {
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != NavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                {
                     Link link = bestTile.links[i];
                     long neighbourRef = link.refs;
                     // Skip invalid neighbours and do not follow back to parent.
-                if (neighbourRef == 0 || neighbourRef == parentRef) {
+                    if (neighbourRef == 0 || neighbourRef == parentRef)
+                    {
                         continue;
                     }
 
@@ -664,7 +776,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     Poly neighbourPoly = neighbourTileAndPoly.Item2;
 
                     // Skip off-mesh connections.
-                if (neighbourPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) {
+                    if (neighbourPoly.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION)
+                    {
                         continue;
                     }
 
@@ -674,25 +787,30 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     Tuple<float, float> distseg = distancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb);
                     float distSqr = distseg.Item1;
                     // If the circle is not touching the next polygon, skip it.
-                if (distSqr > radiusSqr) {
+                    if (distSqr > radiusSqr)
+                    {
                         continue;
                     }
 
-                if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly)) {
+                    if (!filter.passFilter(neighbourRef, neighbourTile, neighbourPoly))
+                    {
                         continue;
                     }
 
                     Node neighbourNode = m_nodePool.getNode(neighbourRef);
 
-                if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0) {
+                    if ((neighbourNode.flags & Node.DT_NODE_CLOSED) != 0)
+                    {
                         continue;
                     }
 
                     // Cost
-                if (neighbourNode.flags == 0) {
+                    if (neighbourNode.flags == 0)
+                    {
                         Result<float[]> midPoint = getEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly,
                             neighbourTile);
-                    if (midPoint.succeeded()) {
+                        if (midPoint.succeeded())
+                        {
                             neighbourNode.pos = midPoint.result;
                         }
                     }
@@ -700,7 +818,8 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     float total = bestNode.total + vDist(bestNode.pos, neighbourNode.pos);
 
                     // The node is already in open list and the new result is worse, skip.
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
+                    {
                         continue;
                     }
 
@@ -709,9 +828,12 @@ public class LegacyNavMeshQuery : NavMeshQuery {
                     neighbourNode.pidx = m_nodePool.getNodeIdx(bestNode);
                     neighbourNode.total = total;
 
-                if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0) {
+                    if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0)
+                    {
                         m_openList.modify(neighbourNode);
-                } else {
+                    }
+                    else
+                    {
                         neighbourNode.flags |= Node.DT_NODE_OPEN;
                         m_openList.push(neighbourNode);
                     }
@@ -720,15 +842,16 @@ public class LegacyNavMeshQuery : NavMeshQuery {
 
             // Calc hit normal.
             float[] hitNormal = new float[3];
-        if (bestvi != null && bestvj != null) {
+            if (bestvi != null && bestvj != null)
+            {
                 float[] tangent = vSub(bestvi, bestvj);
                 hitNormal[0] = tangent[2];
                 hitNormal[1] = 0;
                 hitNormal[2] = -tangent[0];
                 vNormalize(hitNormal);
             }
-        return Results.success(new FindDistanceToWallResult((float) Math.Sqrt(radiusSqr), hitPos, hitNormal));
+
+            return Results.success(new FindDistanceToWallResult((float)Math.Sqrt(radiusSqr), hitPos, hitNormal));
+        }
     }
 }
-
-}

src/DotRecast.Detour/Link.cs

@@ -17,30 +17,33 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Defines a link between polygons.
  *
  * @note This structure is rarely if ever used by the end user.
  * @see MeshTile
  */
-public class Link {
+    public class Link
+    {
         /** Neighbour reference. (The neighbor that is linked to.) */
         public long refs;
+
         /** Index of the next link. */
         public int next;
+
         /** Index of the polygon edge that owns this link. */
         public int edge;
+
         /** If a boundary link, defines on which side the link is. */
         public int side;
+
         /** If a boundary link, defines the minimum sub-edge area. */
         public int bmin;
+
         /** If a boundary link, defines the maximum sub-edge area. */
         public int bmax;
-
+    }
-}
-
 }

src/DotRecast.Detour/MeshData.cs

@@ -17,33 +17,38 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class MeshData
-
+    {
-public class MeshData {
-
         /** The tile header. */
         public MeshHeader header;
+
         /** The tile vertices. [Size: MeshHeader::vertCount] */
         public float[] verts;
+
         /** The tile polygons. [Size: MeshHeader::polyCount] */
         public Poly[] polys;
+
         /** The tile's detail sub-meshes. [Size: MeshHeader::detailMeshCount] */
         public PolyDetail[] detailMeshes;
+
         /** The detail mesh's unique vertices. [(x, y, z) * MeshHeader::detailVertCount] */
         public float[] detailVerts;
+
         /**
      * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and
      * NavMesh::getDetailTriEdgeFlags.
      */
         public int[] detailTris;
+
         /**
      * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.)
      */
         public BVNode[] bvTree;
+
         /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
         public OffMeshConnection[] offMeshCons;
-
+    }
-}
 }

src/DotRecast.Detour/MeshHeader.cs

@@ -17,67 +17,90 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /** Provides high level information related to a dtMeshTile object. */
-
+    public class MeshHeader
-/** Provides high level information related to a dtMeshTile object. */
+    {
-public class MeshHeader {
         /** A magic number used to detect compatibility of navigation tile data. */
         public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
+
         /** A version number used to detect compatibility of navigation tile data. */
         public const int DT_NAVMESH_VERSION = 7;
+
         public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807;
         public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808;
         public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809;
         public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809;
+
         /** A magic number used to detect the compatibility of navigation tile states. */
         public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S';
+
         /** A version number used to detect compatibility of navigation tile states. */
         public const int DT_NAVMESH_STATE_VERSION = 1;
 
         /** Tile magic number. (Used to identify the data format.) */
         public int magic;
+
         /** Tile data format version number. */
         public int version;
+
         /** The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) */
         public int x;
+
         /** The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) */
         public int y;
+
         /** The layer of the tile within the dtNavMesh tile grid. (x, y, layer) */
         public int layer;
+
         /** The user defined id of the tile. */
         public int userId;
+
         /** The number of polygons in the tile. */
         public int polyCount;
+
         /** The number of vertices in the tile. */
         public int vertCount;
+
         /** The number of allocated links. */
         public int maxLinkCount;
+
         /** The number of sub-meshes in the detail mesh. */
         public int detailMeshCount;
+
         /** The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) */
         public int detailVertCount;
+
         /** The number of triangles in the detail mesh. */
         public int detailTriCount;
+
         /** The number of bounding volume nodes. (Zero if bounding volumes are disabled.) */
         public int bvNodeCount;
+
         /** The number of off-mesh connections. */
         public int offMeshConCount;
+
         /** The index of the first polygon which is an off-mesh connection. */
         public int offMeshBase;
+
         /** The height of the agents using the tile. */
         public float walkableHeight;
+
         /** The radius of the agents using the tile. */
         public float walkableRadius;
+
         /** The maximum climb height of the agents using the tile. */
         public float walkableClimb;
+
         /** The minimum bounds of the tile's AABB. [(x, y, z)] */
         public readonly float[] bmin = new float[3];
+
         /** The maximum bounds of the tile's AABB. [(x, y, z)] */
         public readonly float[] bmax = new float[3];
+
         /** The bounding volume quantization factor. */
         public float bvQuantFactor;
-}
+    }
-
 }

src/DotRecast.Detour/MeshTile.cs

@@ -22,29 +22,33 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Defines a navigation mesh tile.
  */
-public class MeshTile {
+    public class MeshTile
+    {
         public readonly int index;
+
         /** Counter describing modifications to the tile. */
         public int salt;
+
         /** The tile data. */
         public MeshData data;
+
         public int[] polyLinks;
+
         /** The tile links. */
         public readonly List<Link> links = new List<Link>();
+
         /** Index to the next free link. */
         public int linksFreeList = NavMesh.DT_NULL_LINK; // FIXME: Remove
+
         /** Tile flags. (See: #dtTileFlags) */
         public int flags;
 
-    public MeshTile(int index) {
+        public MeshTile(int index)
+        {
             this.index = index;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/MoveAlongSurfaceResult.cs

@@ -22,29 +22,28 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    public class MoveAlongSurfaceResult
-
+    {
-
-public class MoveAlongSurfaceResult {
-
         /** The result position of the mover. [(x, y, z)] */
         private readonly float[] resultPos;
+
         /** The reference ids of the polygons visited during the move. */
         private readonly List<long> visited;
 
-    public MoveAlongSurfaceResult(float[] resultPos, List<long> visited) {
+        public MoveAlongSurfaceResult(float[] resultPos, List<long> visited)
+        {
             this.resultPos = resultPos;
             this.visited = visited;
         }
 
-    public float[] getResultPos() {
+        public float[] getResultPos()
+        {
             return resultPos;
         }
 
-    public List<long> getVisited() {
+        public List<long> getVisited()
+        {
             return visited;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/NavMeshBuilder.cs

@@ -23,45 +23,45 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    public class NavMeshBuilder
-using static DetourCommon;
+    {
-
-public class NavMeshBuilder {
-
         const int MESH_NULL_IDX = 0xffff;
 
-    public class BVItem {
+        public class BVItem
+        {
             public readonly int[] bmin = new int[3];
             public readonly int[] bmax = new int[3];
             public int i;
         };
 
-    private class CompareItemX : IComparer<BVItem> {
+        private class CompareItemX : IComparer<BVItem>
-
+        {
-        public int Compare(BVItem a, BVItem b) {
+            public int Compare(BVItem a, BVItem b)
+            {
                 return a.bmin[0].CompareTo(b.bmin[0]);
             }
-
         }
 
-    private class CompareItemY : IComparer<BVItem> {
+        private class CompareItemY : IComparer<BVItem>
-
+        {
-        public int Compare(BVItem a, BVItem b) {
+            public int Compare(BVItem a, BVItem b)
+            {
                 return a.bmin[1].CompareTo(b.bmin[1]);
             }
-
         }
 
-    private class CompareItemZ : IComparer<BVItem> {
+        private class CompareItemZ : IComparer<BVItem>
-
+        {
-        public int Compare(BVItem a, BVItem b) {
+            public int Compare(BVItem a, BVItem b)
+            {
                 return a.bmin[2].CompareTo(b.bmin[2]);
             }
-
         }
 
-    private static int[][] calcExtends(BVItem[] items, int nitems, int imin, int imax) {
+        private static int[][] calcExtends(BVItem[] items, int nitems, int imin, int imax)
+        {
             int[] bmin = new int[3];
             int[] bmax = new int[3];
             bmin[0] = items[imin].bmin[0];
@@ -72,7 +72,8 @@ public class NavMeshBuilder {
             bmax[1] = items[imin].bmax[1];
             bmax[2] = items[imin].bmax[2];
 
-        for (int i = imin + 1; i < imax; ++i) {
+            for (int i = imin + 1; i < imax; ++i)
+            {
                 BVItem it = items[i];
                 if (it.bmin[0] < bmin[0])
                     bmin[0] = it.bmin[0];
@@ -88,31 +89,39 @@ public class NavMeshBuilder {
                 if (it.bmax[2] > bmax[2])
                     bmax[2] = it.bmax[2];
             }
+
             return new int[][] { bmin, bmax };
         }
 
-    private static int longestAxis(int x, int y, int z) {
+        private static int longestAxis(int x, int y, int z)
+        {
             int axis = 0;
             int maxVal = x;
-        if (y > maxVal) {
+            if (y > maxVal)
+            {
                 axis = 1;
                 maxVal = y;
             }
-        if (z > maxVal) {
+
+            if (z > maxVal)
+            {
                 axis = 2;
                 maxVal = z;
             }
+
             return axis;
         }
 
-    public static int subdivide(BVItem[] items, int nitems, int imin, int imax, int curNode, BVNode[] nodes) {
+        public static int subdivide(BVItem[] items, int nitems, int imin, int imax, int curNode, BVNode[] nodes)
+        {
             int inum = imax - imin;
             int icur = curNode;
 
             BVNode node = new BVNode();
             nodes[curNode++] = node;
 
-        if (inum == 1) {
+            if (inum == 1)
+            {
                 // Leaf
                 node.bmin[0] = items[imin].bmin[0];
                 node.bmin[1] = items[imin].bmin[1];
@@ -123,7 +132,9 @@ public class NavMeshBuilder {
                 node.bmax[2] = items[imin].bmax[2];
 
                 node.i = items[imin].i;
-        } else {
+            }
+            else
+            {
                 // Split
                 int[][] minmax = calcExtends(items, nitems, imin, imax);
                 node.bmin = minmax[0];
@@ -132,13 +143,18 @@ public class NavMeshBuilder {
                 int axis = longestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1],
                     node.bmax[2] - node.bmin[2]);
 
-            if (axis == 0) {
+                if (axis == 0)
+                {
                     // Sort along x-axis
                     Array.Sort(items, imin, inum, new CompareItemX());
-            } else if (axis == 1) {
+                }
+                else if (axis == 1)
+                {
                     // Sort along y-axis
                     Array.Sort(items, imin, inum, new CompareItemY());
-            } else {
+                }
+                else
+                {
                     // Sort along z-axis
                     Array.Sort(items, imin, inum, new CompareItemZ());
                 }
@@ -154,19 +170,23 @@ public class NavMeshBuilder {
                 // Negative index means escape.
                 node.i = -iescape;
             }
+
             return curNode;
         }
 
-    private static int createBVTree(NavMeshDataCreateParams option, BVNode[] nodes) {
+        private static int createBVTree(NavMeshDataCreateParams option, BVNode[] nodes)
+        {
             // Build tree
             float quantFactor = 1 / option.cs;
             BVItem[] items = new BVItem[option.polyCount];
-        for (int i = 0; i < option.polyCount; i++) {
+            for (int i = 0; i < option.polyCount; i++)
+            {
                 BVItem it = new BVItem();
                 items[i] = it;
                 it.i = i;
                 // Calc polygon bounds. Use detail meshes if available.
-            if (option.detailMeshes != null) {
+                if (option.detailMeshes != null)
+                {
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     float[] bmin = new float[3];
@@ -174,26 +194,30 @@ public class NavMeshBuilder {
                     int dv = vb * 3;
                     vCopy(bmin, option.detailVerts, dv);
                     vCopy(bmax, option.detailVerts, dv);
-                for (int j = 1; j < ndv; j++) {
+                    for (int j = 1; j < ndv; j++)
+                    {
                         vMin(bmin, option.detailVerts, dv + j * 3);
                         vMax(bmax, option.detailVerts, dv + j * 3);
                     }
 
                     // BV-tree uses cs for all dimensions
-                it.bmin[0] = clamp((int) ((bmin[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue);
+                    it.bmin[0] = clamp((int)((bmin[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue);
-                it.bmin[1] = clamp((int) ((bmin[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue);
+                    it.bmin[1] = clamp((int)((bmin[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue);
-                it.bmin[2] = clamp((int) ((bmin[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue);
+                    it.bmin[2] = clamp((int)((bmin[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue);
 
-                it.bmax[0] = clamp((int) ((bmax[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue);
+                    it.bmax[0] = clamp((int)((bmax[0] - option.bmin[0]) * quantFactor), 0, int.MaxValue);
-                it.bmax[1] = clamp((int) ((bmax[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue);
+                    it.bmax[1] = clamp((int)((bmax[1] - option.bmin[1]) * quantFactor), 0, int.MaxValue);
-                it.bmax[2] = clamp((int) ((bmax[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue);
+                    it.bmax[2] = clamp((int)((bmax[2] - option.bmin[2]) * quantFactor), 0, int.MaxValue);
-            } else {
+                }
+                else
+                {
                     int p = i * option.nvp * 2;
                     it.bmin[0] = it.bmax[0] = option.verts[option.polys[p] * 3 + 0];
                     it.bmin[1] = it.bmax[1] = option.verts[option.polys[p] * 3 + 1];
                     it.bmin[2] = it.bmax[2] = option.verts[option.polys[p] * 3 + 2];
 
-                for (int j = 1; j < option.nvp; ++j) {
+                    for (int j = 1; j < option.nvp; ++j)
+                    {
                         if (option.polys[p + j] == MESH_NULL_IDX)
                             break;
                         int x = option.verts[option.polys[p + j] * 3 + 0];
@@ -214,9 +238,10 @@ public class NavMeshBuilder {
                         if (z > it.bmax[2])
                             it.bmax[2] = z;
                     }
+
                     // Remap y
-                it.bmin[1] = (int) Math.Floor(it.bmin[1] * option.ch * quantFactor);
+                    it.bmin[1] = (int)Math.Floor(it.bmin[1] * option.ch * quantFactor);
-                it.bmax[1] = (int) Math.Ceiling(it.bmax[1] * option.ch * quantFactor);
+                    it.bmax[1] = (int)Math.Ceiling(it.bmax[1] * option.ch * quantFactor);
                 }
             }
 
@@ -228,15 +253,16 @@ public class NavMeshBuilder {
         const int XM = 1 << 2;
         const int ZM = 1 << 3;
 
-    public static int classifyOffMeshPoint(VectorPtr pt, float[] bmin, float[] bmax) {
+        public static int classifyOffMeshPoint(VectorPtr pt, float[] bmin, float[] bmax)
-
+        {
             int outcode = 0;
             outcode |= (pt.get(0) >= bmax[0]) ? XP : 0;
             outcode |= (pt.get(2) >= bmax[2]) ? ZP : 0;
             outcode |= (pt.get(0) < bmin[0]) ? XM : 0;
             outcode |= (pt.get(2) < bmin[2]) ? ZM : 0;
 
-        switch (outcode) {
+            switch (outcode)
+            {
                 case XP:
                     return 0;
                 case XP | ZP:
@@ -266,7 +292,8 @@ public class NavMeshBuilder {
      *
      * @return created tile data
      */
-    public static MeshData createNavMeshData(NavMeshDataCreateParams option) {
+        public static MeshData createNavMeshData(NavMeshDataCreateParams option)
+        {
             if (option.vertCount >= 0xffff)
                 return null;
             if (option.vertCount == 0 || option.verts == null)
@@ -282,7 +309,8 @@ public class NavMeshBuilder {
             int storedOffMeshConCount = 0;
             int offMeshConLinkCount = 0;
 
-        if (option.offMeshConCount > 0) {
+            if (option.offMeshConCount > 0)
+            {
                 offMeshConClass = new int[option.offMeshConCount * 2];
 
                 // Find tight heigh bounds, used for culling out off-mesh start
@@ -290,20 +318,26 @@ public class NavMeshBuilder {
                 float hmin = float.MaxValue;
                 float hmax = -float.MaxValue;
 
-            if (option.detailVerts != null && option.detailVertsCount != 0) {
+                if (option.detailVerts != null && option.detailVertsCount != 0)
-                for (int i = 0; i < option.detailVertsCount; ++i) {
+                {
+                    for (int i = 0; i < option.detailVertsCount; ++i)
+                    {
                         float h = option.detailVerts[i * 3 + 1];
                         hmin = Math.Min(hmin, h);
                         hmax = Math.Max(hmax, h);
                     }
-            } else {
+                }
-                for (int i = 0; i < option.vertCount; ++i) {
+                else
+                {
+                    for (int i = 0; i < option.vertCount; ++i)
+                    {
                         int iv = i * 3;
                         float h = option.bmin[1] + option.verts[iv + 1] * option.ch;
                         hmin = Math.Min(hmin, h);
                         hmax = Math.Max(hmax, h);
                     }
                 }
+
                 hmin -= option.walkableClimb;
                 hmax += option.walkableClimb;
                 float[] bmin = new float[3];
@@ -313,7 +347,8 @@ public class NavMeshBuilder {
                 bmin[1] = hmin;
                 bmax[1] = hmax;
 
-            for (int i = 0; i < option.offMeshConCount; ++i) {
+                for (int i = 0; i < option.offMeshConCount; ++i)
+                {
                     VectorPtr p0 = new VectorPtr(option.offMeshConVerts, (i * 2 + 0) * 3);
                     VectorPtr p1 = new VectorPtr(option.offMeshConVerts, (i * 2 + 1) * 3);
 
@@ -322,7 +357,8 @@ public class NavMeshBuilder {
 
                     // Zero out off-mesh start positions which are not even
                     // potentially touching the mesh.
-                if (offMeshConClass[i * 2 + 0] == 0xff) {
+                    if (offMeshConClass[i * 2 + 0] == 0xff)
+                    {
                         if (p0.get(1) < bmin[1] || p0.get(1) > bmax[1])
                             offMeshConClass[i * 2 + 0] = 0;
                     }
@@ -346,14 +382,17 @@ public class NavMeshBuilder {
             // Find portal edges which are at tile borders.
             int edgeCount = 0;
             int portalCount = 0;
-        for (int i = 0; i < option.polyCount; ++i) {
+            for (int i = 0; i < option.polyCount; ++i)
+            {
                 int p = i * 2 * nvp;
-            for (int j = 0; j < nvp; ++j) {
+                for (int j = 0; j < nvp; ++j)
+                {
                     if (option.polys[p + j] == MESH_NULL_IDX)
                         break;
                     edgeCount++;
 
-                if ((option.polys[p + nvp + j] & 0x8000) != 0) {
+                    if ((option.polys[p + nvp + j] & 0x8000) != 0)
+                    {
                         int dir = option.polys[p + nvp + j] & 0xf;
                         if (dir != 0xf)
                             portalCount++;
@@ -366,34 +405,43 @@ public class NavMeshBuilder {
             // Find unique detail vertices.
             int uniqueDetailVertCount = 0;
             int detailTriCount = 0;
-        if (option.detailMeshes != null) {
+            if (option.detailMeshes != null)
+            {
                 // Has detail mesh, count unique detail vertex count and use input
                 // detail tri count.
                 detailTriCount = option.detailTriCount;
-            for (int i = 0; i < option.polyCount; ++i) {
+                for (int i = 0; i < option.polyCount; ++i)
+                {
                     int p = i * nvp * 2;
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int nv = 0;
-                for (int j = 0; j < nvp; ++j) {
+                    for (int j = 0; j < nvp; ++j)
+                    {
                         if (option.polys[p + j] == MESH_NULL_IDX)
                             break;
                         nv++;
                     }
+
                     ndv -= nv;
                     uniqueDetailVertCount += ndv;
                 }
-        } else {
+            }
+            else
+            {
                 // No input detail mesh, build detail mesh from nav polys.
                 uniqueDetailVertCount = 0; // No extra detail verts.
                 detailTriCount = 0;
-            for (int i = 0; i < option.polyCount; ++i) {
+                for (int i = 0; i < option.polyCount; ++i)
+                {
                     int p = i * nvp * 2;
                     int nv = 0;
-                for (int j = 0; j < nvp; ++j) {
+                    for (int j = 0; j < nvp; ++j)
+                    {
                         if (option.polys[p + j] == MESH_NULL_IDX)
                             break;
                         nv++;
                     }
+
                     detailTriCount += nv - 2;
                 }
             }
@@ -436,18 +484,22 @@ public class NavMeshBuilder {
 
             // Store vertices
             // Mesh vertices
-        for (int i = 0; i < option.vertCount; ++i) {
+            for (int i = 0; i < option.vertCount; ++i)
+            {
                 int iv = i * 3;
                 int v = i * 3;
                 navVerts[v] = option.bmin[0] + option.verts[iv] * option.cs;
                 navVerts[v + 1] = option.bmin[1] + option.verts[iv + 1] * option.ch;
                 navVerts[v + 2] = option.bmin[2] + option.verts[iv + 2] * option.cs;
             }
+
             // Off-mesh link vertices.
             int n = 0;
-        for (int i = 0; i < option.offMeshConCount; ++i) {
+            for (int i = 0; i < option.offMeshConCount; ++i)
+            {
                 // Only store connections which start from this tile.
-            if (offMeshConClass[i * 2 + 0] == 0xff) {
+                if (offMeshConClass[i * 2 + 0] == 0xff)
+                {
                     int linkv = i * 2 * 3;
                     int v = (offMeshVertsBase + n * 2) * 3;
                     Array.Copy(option.offMeshConVerts, linkv, navVerts, v, 6);
@@ -458,18 +510,21 @@ public class NavMeshBuilder {
             // Store polygons
             // Mesh polys
             int src = 0;
-        for (int i = 0; i < option.polyCount; ++i) {
+            for (int i = 0; i < option.polyCount; ++i)
+            {
                 Poly p = new Poly(i, nvp);
                 navPolys[i] = p;
                 p.vertCount = 0;
                 p.flags = option.polyFlags[i];
                 p.setArea(option.polyAreas[i]);
                 p.setType(Poly.DT_POLYTYPE_GROUND);
-            for (int j = 0; j < nvp; ++j) {
+                for (int j = 0; j < nvp; ++j)
+                {
                     if (option.polys[src + j] == MESH_NULL_IDX)
                         break;
                     p.verts[j] = option.polys[src + j];
-                if ((option.polys[src + nvp + j] & 0x8000) != 0) {
+                    if ((option.polys[src + nvp + j] & 0x8000) != 0)
+                    {
                         // Border or portal edge.
                         int dir = option.polys[src + nvp + j] & 0xf;
                         if (dir == 0xf) // Border
@@ -482,20 +537,26 @@ public class NavMeshBuilder {
                             p.neis[j] = NavMesh.DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
                             p.neis[j] = NavMesh.DT_EXT_LINK | 6;
-                } else {
+                    }
+                    else
+                    {
                         // Normal connection
                         p.neis[j] = option.polys[src + nvp + j] + 1;
                     }
 
                     p.vertCount++;
                 }
+
                 src += nvp * 2;
             }
+
             // Off-mesh connection vertices.
             n = 0;
-        for (int i = 0; i < option.offMeshConCount; ++i) {
+            for (int i = 0; i < option.offMeshConCount; ++i)
+            {
                 // Only store connections which start from this tile.
-            if (offMeshConClass[i * 2 + 0] == 0xff) {
+                if (offMeshConClass[i * 2 + 0] == 0xff)
+                {
                     Poly p = new Poly(offMeshPolyBase + n, nvp);
                     navPolys[offMeshPolyBase + n] = p;
                     p.vertCount = 2;
@@ -513,9 +574,11 @@ public class NavMeshBuilder {
             // mesh.
             // We compress the mesh data by skipping them and using the navmesh
             // coordinates.
-        if (option.detailMeshes != null) {
+            if (option.detailMeshes != null)
+            {
                 int vbase = 0;
-            for (int i = 0; i < option.polyCount; ++i) {
+                for (int i = 0; i < option.polyCount; ++i)
+                {
                     PolyDetail dtl = new PolyDetail();
                     navDMeshes[i] = dtl;
                     int vb = option.detailMeshes[i * 4 + 0];
@@ -527,17 +590,22 @@ public class NavMeshBuilder {
                     dtl.triCount = option.detailMeshes[i * 4 + 3];
                     // Copy vertices except the first 'nv' verts which are equal to
                     // nav poly verts.
-                if (ndv - nv != 0) {
+                    if (ndv - nv != 0)
+                    {
                         Array.Copy(option.detailVerts, (vb + nv) * 3, navDVerts, vbase * 3, 3 * (ndv - nv));
                         vbase += ndv - nv;
                     }
                 }
+
                 // Store triangles.
                 Array.Copy(option.detailTris, 0, navDTris, 0, 4 * option.detailTriCount);
-        } else {
+            }
+            else
+            {
                 // Create dummy detail mesh by triangulating polys.
                 int tbase = 0;
-            for (int i = 0; i < option.polyCount; ++i) {
+                for (int i = 0; i < option.polyCount; ++i)
+                {
                     PolyDetail dtl = new PolyDetail();
                     navDMeshes[i] = dtl;
                     int nv = navPolys[i].vertCount;
@@ -546,7 +614,8 @@ public class NavMeshBuilder {
                     dtl.triBase = tbase;
                     dtl.triCount = (nv - 2);
                     // Triangulate polygon (local indices).
-                for (int j = 2; j < nv; ++j) {
+                    for (int j = 2; j < nv; ++j)
+                    {
                         int t = tbase * 4;
                         navDTris[t + 0] = 0;
                         navDTris[t + 1] = (j - 1);
@@ -564,16 +633,19 @@ public class NavMeshBuilder {
 
             // Store and create BVtree.
             // TODO: take detail mesh into account! use byte per bbox extent?
-        if (option.buildBvTree) {
+            if (option.buildBvTree)
+            {
                 // Do not set header.bvNodeCount set to make it work look exactly the same as in original Detour
                 header.bvNodeCount = createBVTree(option, navBvtree);
             }
 
             // Store Off-Mesh connections.
             n = 0;
-        for (int i = 0; i < option.offMeshConCount; ++i) {
+            for (int i = 0; i < option.offMeshConCount; ++i)
+            {
                 // Only store connections which start from this tile.
-            if (offMeshConClass[i * 2 + 0] == 0xff) {
+                if (offMeshConClass[i * 2 + 0] == 0xff)
+                {
                     OffMeshConnection con = new OffMeshConnection();
                     offMeshCons[n] = con;
                     con.poly = (offMeshPolyBase + n);
@@ -600,7 +672,5 @@ public class NavMeshBuilder {
             nmd.offMeshCons = offMeshCons;
             return nmd;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/NavMeshDataCreateParams.cs

@@ -17,59 +17,83 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /// Represents the source data used to build an navigation mesh tile.
-
+    public class NavMeshDataCreateParams
-/// Represents the source data used to build an navigation mesh tile.
+    {
-public class NavMeshDataCreateParams {
-
         /// @name Polygon Mesh Attributes
         /// Used to create the base navigation graph.
         /// See #rcPolyMesh for details related to these attributes.
         /// @{
+        public int[] verts;
 
-    public int[] verts; /// < The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
+        /// < The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
-    public int vertCount; /// < The number vertices in the polygon mesh. [Limit: >= 3]
+        public int vertCount;
-    public int[] polys; /// < The polygon data. [Size: #polyCount * 2 * #nvp]
-    public int[] polyFlags; /// < The user defined flags assigned to each polygon. [Size: #polyCount]
-    public int[] polyAreas; /// < The user defined area ids assigned to each polygon. [Size: #polyCount]
-    public int polyCount; /// < Number of polygons in the mesh. [Limit: >= 1]
-    public int nvp; /// < Number maximum number of vertices per polygon. [Limit: >= 3]
 
+        /// < The number vertices in the polygon mesh. [Limit: >= 3]
+        public int[] polys;
+
+        /// < The polygon data. [Size: #polyCount * 2 * #nvp]
+        public int[] polyFlags;
+
+        /// < The user defined flags assigned to each polygon. [Size: #polyCount]
+        public int[] polyAreas;
+
+        /// < The user defined area ids assigned to each polygon. [Size: #polyCount]
+        public int polyCount;
+
+        /// < Number of polygons in the mesh. [Limit: >= 1]
+        public int nvp;
+
+        /// < Number maximum number of vertices per polygon. [Limit: >= 3]
         /// @}
         /// @name Height Detail Attributes (Optional)
         /// See #rcPolyMeshDetail for details related to these attributes.
         /// @{
+        public int[] detailMeshes;
 
-    public int[] detailMeshes; /// < The height detail sub-mesh data. [Size: 4 * #polyCount]
+        /// < The height detail sub-mesh data. [Size: 4 * #polyCount]
-    public float[] detailVerts; /// < The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
+        public float[] detailVerts;
-    public int detailVertsCount; /// < The number of vertices in the detail mesh.
-    public int[] detailTris; /// < The detail mesh triangles. [Size: 4 * #detailTriCount]
-    public int detailTriCount; /// < The number of triangles in the detail mesh.
 
+        /// < The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
+        public int detailVertsCount;
+
+        /// < The number of vertices in the detail mesh.
+        public int[] detailTris;
+
+        /// < The detail mesh triangles. [Size: 4 * #detailTriCount]
+        public int detailTriCount;
+
+        /// < The number of triangles in the detail mesh.
         /// @}
         /// @name Off-Mesh Connections Attributes (Optional)
         /// Used to define a custom point-to-point edge within the navigation graph, an
         /// off-mesh connection is a user defined traversable connection made up to two vertices,
         /// at least one of which resides within a navigation mesh polygon.
         /// @{
-
         /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu]
         public float[] offMeshConVerts;
+
         /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu]
         public float[] offMeshConRad;
+
         /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount]
         public int[] offMeshConFlags;
+
         /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount]
         public int[] offMeshConAreas;
+
         /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount]
         ///
         /// 0 = Travel only from endpoint A to endpoint B.<br/>
         /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel.
         public int[] offMeshConDir;
+
         /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount]
         public int[] offMeshConUserID;
+
         /// The number of off-mesh connections. [Limit: >= 0]
         public int offMeshConCount;
 
@@ -77,29 +101,46 @@ public class NavMeshDataCreateParams {
         /// @name Tile Attributes
         /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh.
         /// @{
+        public int userId;
 
-    public int userId; /// < The user defined id of the tile.
+        /// < The user defined id of the tile.
-    public int tileX; /// < The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
+        public int tileX;
-    public int tileZ; /// < The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
-    public int tileLayer; /// < The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
-    public float[] bmin; /// < The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
-    public float[] bmax; /// < The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
 
+        /// < The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
+        public int tileZ;
+
+        /// < The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
+        public int tileLayer;
+
+        /// < The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
+        public float[] bmin;
+
+        /// < The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
+        public float[] bmax;
+
+        /// < The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
         /// @}
         /// @name General Configuration Attributes
         /// @{
+        public float walkableHeight;
 
-    public float walkableHeight; /// < The agent height. [Unit: wu]
+        /// < The agent height. [Unit: wu]
-    public float walkableRadius; /// < The agent radius. [Unit: wu]
+        public float walkableRadius;
-    public float walkableClimb; /// < The agent maximum traversable ledge. (Up/Down) [Unit: wu]
-    public float cs; /// < The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
-    public float ch; /// < The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
 
+        /// < The agent radius. [Unit: wu]
+        public float walkableClimb;
+
+        /// < The agent maximum traversable ledge. (Up/Down) [Unit: wu]
+        public float cs;
+
+        /// < The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
+        public float ch;
+
+        /// < The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
         /// True if a bounding volume tree should be built for the tile.
         /// @note The BVTree is not normally needed for layered navigation meshes.
         public bool buildBvTree;
 
         /// @}
-
+    }
-}
 }

src/DotRecast.Detour/NavMeshParams.cs

@@ -17,27 +17,30 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during
  * the initialization of a navigation mesh.
  *
  * @see NavMesh
  */
-public class NavMeshParams {
+    public class NavMeshParams
+    {
         /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */
         public readonly float[] orig = new float[3];
+
         /** The width of each tile. (Along the x-axis.) */
         public float tileWidth;
+
         /** The height of each tile. (Along the z-axis.) */
         public float tileHeight;
+
         /** The maximum number of tiles the navigation mesh can contain. */
         public int maxTiles;
+
         /** The maximum number of polygons each tile can contain. */
         public int maxPolys;
-}
+    }
-
 }

src/DotRecast.Detour/Node.cs

@@ -22,13 +22,11 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    public class Node
-
+    {
-
-public class Node {
-
         public const int DT_NODE_OPEN = 0x01;
         public const int DT_NODE_CLOSED = 0x02;
+
         /** parent of the node is not adjacent. Found using raycast. */
         public const int DT_NODE_PARENT_DETACHED = 0x04;
 
@@ -36,31 +34,38 @@ public class Node {
 
         /** Position of the node. */
         public float[] pos = new float[3];
+
         /** Cost of reaching the given node. */
         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 Node(int index) {
+        public Node(int index)
+        {
             this.index = index;
         }
 
-    public override string ToString() {
+        public override string ToString()
+        {
             return "Node [id=" + id + "]";
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/NodePool.cs

@@ -22,82 +22,99 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    public class NodePool
-
+    {
-
-public class NodePool
-{
-
         private readonly Dictionary<long, List<Node>> m_map = new Dictionary<long, List<Node>>();
         private readonly List<Node> m_nodes = new List<Node>();
 
-    public NodePool() {
+        public NodePool()
-
+        {
         }
 
-    public void clear() {
+        public void clear()
+        {
             m_nodes.Clear();
             m_map.Clear();
         }
 
-    public List<Node> findNodes(long id) {
+        public List<Node> findNodes(long id)
-        var hasNode = m_map.TryGetValue(id, out var nodes);;
+        {
-        if (nodes == null) {
+            var hasNode = m_map.TryGetValue(id, out var nodes);
+            ;
+            if (nodes == null)
+            {
                 nodes = new List<Node>();
             }
+
             return nodes;
         }
 
-    public Node findNode(long id) {
+        public Node findNode(long id)
-        var hasNode = m_map.TryGetValue(id, out var nodes);;
+        {
-        if (nodes != null && 0 != nodes.Count) {
+            var hasNode = m_map.TryGetValue(id, out var nodes);
+            ;
+            if (nodes != null && 0 != nodes.Count)
+            {
                 return nodes[0];
             }
+
             return null;
         }
 
-    public Node getNode(long id, int state) {
+        public Node getNode(long id, int state)
-        var hasNode = m_map.TryGetValue(id, out var nodes);;
+        {
-        if (nodes != null) {
+            var hasNode = m_map.TryGetValue(id, out var nodes);
-            foreach (Node node in nodes) {
+            ;
-                if (node.state == state) {
+            if (nodes != null)
+            {
+                foreach (Node node in nodes)
+                {
+                    if (node.state == state)
+                    {
                         return node;
                     }
                 }
             }
+
             return create(id, state);
         }
 
-    protected Node create(long id, int state) {
+        protected Node create(long id, int state)
+        {
             Node node = new Node(m_nodes.Count + 1);
             node.id = id;
             node.state = state;
             m_nodes.Add(node);
-        var hasNode = m_map.TryGetValue(id, out var nodes);;
+            var hasNode = m_map.TryGetValue(id, out var nodes);
-        if (nodes == null) {
+            ;
+            if (nodes == null)
+            {
                 nodes = new List<Node>();
                 m_map.Add(id, nodes);
             }
+
             nodes.Add(node);
             return node;
         }
 
-    public int getNodeIdx(Node node) {
+        public int getNodeIdx(Node node)
+        {
             return node != null ? node.index : 0;
         }
 
-    public Node getNodeAtIdx(int idx) {
+        public Node getNodeAtIdx(int idx)
+        {
             return idx != 0 ? m_nodes[idx - 1] : null;
         }
 
-    public Node getNode(long refs) {
+        public Node getNode(long refs)
+        {
             return getNode(refs, 0);
         }
 
-    public Dictionary<long, List<Node>> getNodeMap() {
+        public Dictionary<long, List<Node>> getNodeMap()
+        {
             return m_map;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/NodeQueue.cs

@@ -17,14 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
+    using System.Collections.Generic;
 
-
+    public class NodeQueue
-using System.Collections.Generic;
+    {
-
-public class NodeQueue {
-    
         private readonly List<Node> m_heap = new List<Node>();
 
         public int count()
@@ -32,7 +31,8 @@ public class NodeQueue {
             return m_heap.Count;
         }
 
-    public void clear() {
+        public void clear()
+        {
             m_heap.Clear();
         }
 
@@ -48,12 +48,14 @@ public class NodeQueue {
             return node;
         }
 
-    public void push(Node node) {
+        public void push(Node node)
+        {
             m_heap.Add(node);
             m_heap.Sort((x, y) => x.total.CompareTo(y.total));
         }
 
-    public void modify(Node node) {
+        public void modify(Node node)
+        {
             m_heap.Remove(node);
             push(node);
         }
@@ -62,6 +64,5 @@ public class NodeQueue {
         {
             return 0 == m_heap.Count;
         }
-}
+    }
-
 }

src/DotRecast.Detour/OffMeshConnection.cs

@@ -17,21 +17,24 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Defines an navigation mesh off-mesh connection within a dtMeshTile object. An off-mesh connection is a user defined
  * traversable connection made up to two vertices.
  */
-public class OffMeshConnection {
+    public class OffMeshConnection
+    {
         /** The endpoints of the connection. [(ax, ay, az, bx, by, bz)] */
         public float[] pos = new float[6];
+
         /** The radius of the endpoints. [Limit: >= 0] */
         public float rad;
+
         /** The polygon reference of the connection within the tile. */
         public int poly;
+
         /**
      * Link flags.
      *
@@ -39,9 +42,11 @@ public class OffMeshConnection {
      *       These are link flags used for internal purposes.
      */
         public int flags;
+
         /** End point side. */
         public int side;
+
         /** The id of the offmesh connection. (User assigned when the navigation mesh is built.) */
         public int userId;
-}
+    }
 }

src/DotRecast.Detour/Poly.cs

@@ -17,26 +17,32 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /** Defines a polygon within a MeshTile object. */
-
+    public class Poly
-/** Defines a polygon within a MeshTile object. */
+    {
-public class Poly {
-
         public readonly int index;
+
         /** The polygon is a standard convex polygon that is part of the surface of the mesh. */
         public const int DT_POLYTYPE_GROUND = 0;
+
         /** The polygon is an off-mesh connection consisting of two vertices. */
         public const int DT_POLYTYPE_OFFMESH_CONNECTION = 1;
+
         /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */
         public readonly int[] verts;
+
         /** Packed data representing neighbor polygons references and flags for each edge. */
         public readonly int[] neis;
+
         /** The user defined polygon flags. */
         public int flags;
+
         /** The number of vertices in the polygon. */
         public int vertCount;
+
         /**
      * The bit packed area id and polygon type.
      *
@@ -44,32 +50,35 @@ public class Poly {
      */
         public int areaAndtype;
 
-    public Poly(int index, int maxVertsPerPoly) {
+        public Poly(int index, int maxVertsPerPoly)
+        {
             this.index = index;
             verts = new int[maxVertsPerPoly];
             neis = new int[maxVertsPerPoly];
         }
 
         /** Sets the user defined area id. [Limit: < {@link org.recast4j.detour.NavMesh#DT_MAX_AREAS}] */
-    public void setArea(int a) {
+        public void setArea(int a)
+        {
             areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f);
         }
 
         /** Sets the polygon type. (See: #dtPolyTypes.) */
-    public void setType(int t) {
+        public void setType(int t)
+        {
             areaAndtype = (areaAndtype & 0x3f) | (t << 6);
         }
 
         /** Gets the user defined area id. */
-    public int getArea() {
+        public int getArea()
+        {
             return areaAndtype & 0x3f;
         }
 
         /** Gets the polygon type. (See: #dtPolyTypes) */
-    public int getType() {
+        public int getType()
+        {
             return areaAndtype >> 6;
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/PolyDetail.cs

@@ -17,20 +17,22 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    /** Defines the location of detail sub-mesh data within a dtMeshTile. */
-
+    public class PolyDetail
-/** Defines the location of detail sub-mesh data within a dtMeshTile. */
+    {
-public class PolyDetail {
         /** The offset of the vertices in the MeshTile::detailVerts array. */
         public int vertBase;
+
         /** The offset of the triangles in the MeshTile::detailTris array. */
         public int triBase;
+
         /** The number of vertices in the sub-mesh. */
         public int vertCount;
+
         /** The number of triangles in the sub-mesh. */
         public int triCount;
-}
+    }
-
 }

src/DotRecast.Detour/PolyQuery.cs

@@ -1,10 +1,7 @@
 namespace DotRecast.Detour
 {
-
+    public interface PolyQuery
-
+    {
-public interface PolyQuery {
-
         void process(MeshTile tile, Poly poly, long refs);
-}
+    }
-
 }

src/DotRecast.Detour/PolygonByCircleConstraint.cs

@@ -20,79 +20,92 @@ using System;
 
 namespace DotRecast.Detour
 {
+    using static DetourCommon;
 
-
+    public interface PolygonByCircleConstraint
-using static DetourCommon;
+    {
-
-public interface PolygonByCircleConstraint {
-
         float[] aply(float[] polyVerts, float[] circleCenter, float radius);
 
-    public static PolygonByCircleConstraint noop() {
+        public static PolygonByCircleConstraint noop()
+        {
             return new NoOpPolygonByCircleConstraint();
         }
 
-    public static PolygonByCircleConstraint strict() {
+        public static PolygonByCircleConstraint strict()
+        {
             return new StrictPolygonByCircleConstraint();
         }
 
-    public class NoOpPolygonByCircleConstraint : PolygonByCircleConstraint {
+        public class NoOpPolygonByCircleConstraint : PolygonByCircleConstraint
-
+        {
-        public float[] aply(float[] polyVerts, float[] circleCenter, float radius) {
+            public float[] aply(float[] polyVerts, float[] circleCenter, float radius)
+            {
                 return polyVerts;
             }
-
         }
 
         /**
      * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
      */
-    public class StrictPolygonByCircleConstraint : PolygonByCircleConstraint {
+        public class StrictPolygonByCircleConstraint : PolygonByCircleConstraint
-
+        {
             private const int CIRCLE_SEGMENTS = 12;
             private static float[] unitCircle;
 
-        public float[] aply(float[] verts, float[] center, float radius) {
+            public float[] aply(float[] verts, float[] center, float radius)
+            {
                 float radiusSqr = radius * radius;
                 int outsideVertex = -1;
-            for (int pv = 0; pv < verts.Length; pv += 3) {
+                for (int pv = 0; pv < verts.Length; pv += 3)
-                if (vDist2DSqr(center, verts, pv) > radiusSqr) {
+                {
+                    if (vDist2DSqr(center, verts, pv) > radiusSqr)
+                    {
                         outsideVertex = pv;
                         break;
                     }
                 }
-            if (outsideVertex == -1) {
+
+                if (outsideVertex == -1)
+                {
                     // polygon inside circle
                     return verts;
                 }
+
                 float[] qCircle = circle(center, radius);
                 float[] intersection = ConvexConvexIntersection.intersect(verts, qCircle);
-            if (intersection == null && pointInPolygon(center, verts, verts.Length / 3)) {
+                if (intersection == null && pointInPolygon(center, verts, verts.Length / 3))
+                {
                     // circle inside polygon
                     return qCircle;
                 }
+
                 return intersection;
             }
 
-        private float[] circle(float[] center, float radius) {
+            private float[] circle(float[] center, float radius)
-            if (unitCircle == null) {
+            {
+                if (unitCircle == null)
+                {
                     unitCircle = new float[CIRCLE_SEGMENTS * 3];
-                for (int i = 0; i < CIRCLE_SEGMENTS; i++) {
+                    for (int i = 0; i < CIRCLE_SEGMENTS; i++)
+                    {
                         double a = i * Math.PI * 2 / CIRCLE_SEGMENTS;
-                    unitCircle[3 * i] = (float) Math.Cos(a);
+                        unitCircle[3 * i] = (float)Math.Cos(a);
                         unitCircle[3 * i + 1] = 0;
-                    unitCircle[3 * i + 2] = (float) -Math.Sin(a);
+                        unitCircle[3 * i + 2] = (float)-Math.Sin(a);
                     }
                 }
+
                 float[] circle = new float[12 * 3];
-            for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3) {
+                for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
+                {
                     circle[i] = unitCircle[i] * radius + center[0];
                     circle[i + 1] = center[1];
                     circle[i + 2] = unitCircle[i + 2] * radius + center[2];
                 }
+
                 return circle;
             }
         }
-}
+    }
-
 }

src/DotRecast.Detour/QueryData.cs

@@ -17,11 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class QueryData
-
+    {
-public class QueryData {
         public Status status;
         public Node lastBestNode;
         public float lastBestNodeCost;
@@ -32,5 +32,5 @@ public class QueryData {
         public int options;
         public float raycastLimitSqr;
         public QueryHeuristic heuristic;
-}
+    }
 }

src/DotRecast.Detour/QueryFilter.cs

@@ -17,17 +17,14 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public interface QueryFilter
-
+    {
-public interface QueryFilter {
-
         bool passFilter(long refs, MeshTile tile, Poly poly);
 
         float getCost(float[] pa, float[] pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef, MeshTile curTile,
             Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly);
-}
+    }
-
-
 }

src/DotRecast.Detour/QueryHeuristic.cs

@@ -18,12 +18,8 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-
+    public interface QueryHeuristic
-
+    {
-public interface QueryHeuristic {
-
         float getCost(float[] neighbourPos, float[] endPos);
-
+    }
-}
-
 }

src/DotRecast.Detour/RaycastHit.cs

@@ -22,23 +22,24 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
-
+    /**
-
-
-/**
  * Provides information about raycast hit. Filled by NavMeshQuery::raycast
  */
-public class RaycastHit {
+    public class RaycastHit
+    {
         /** The hit parameter. (float.MaxValue if no wall hit.) */
         public float t;
+
         /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */
         public readonly float[] hitNormal = new float[3];
+
         /** Visited polygons. */
         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;
-}
+    }
-
 }

src/DotRecast.Detour/Result.cs

@@ -17,71 +17,79 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public static class Results
-
+    {
-public static class Results
+        public static Result<T> success<T>(T result)
-{
+        {
-    public static Result<T> success<T>(T result) {
             return new Result<T>(result, Status.SUCCSESS, null);
         }
 
-    public static Result<T> failure<T>() {
+        public static Result<T> failure<T>()
+        {
             return new Result<T>(default, Status.FAILURE, null);
         }
 
-    public static Result<T> invalidParam<T>() {
+        public static Result<T> invalidParam<T>()
+        {
             return new Result<T>(default, Status.FAILURE_INVALID_PARAM, null);
         }
 
-    public static Result<T> failure<T>(string message) {
+        public static Result<T> failure<T>(string message)
+        {
             return new Result<T>(default, Status.FAILURE, message);
         }
 
-    public static Result<T> invalidParam<T>(string message) {
+        public static Result<T> invalidParam<T>(string message)
+        {
             return new Result<T>(default, Status.FAILURE_INVALID_PARAM, message);
         }
 
-    public static Result<T> failure<T>(T result) {
+        public static Result<T> failure<T>(T result)
+        {
             return new Result<T>(result, Status.FAILURE, null);
         }
 
-    public static Result<T> partial<T>(T result) {
+        public static Result<T> partial<T>(T result)
+        {
             return new Result<T>(default, Status.PARTIAL_RESULT, null);
         }
 
-    public static Result<T> of<T>(Status status, string message) {
+        public static Result<T> of<T>(Status status, string message)
+        {
             return new Result<T>(default, status, message);
         }
 
-    public static Result<T> of<T>(Status status, T result) {
+        public static Result<T> of<T>(Status status, T result)
+        {
             return new Result<T>(result, status, null);
         }
+    }
 
-}
+    public class Result<T>
-
+    {
-public class Result<T> {
-
         public readonly T result;
         public readonly Status status;
         public readonly string message;
 
-    internal Result(T result, Status status, string message) {
+        internal Result(T result, Status status, string message)
+        {
             this.result = result;
             this.status = status;
             this.message = message;
         }
 
 
-    public bool failed() {
+        public bool failed()
+        {
             return status.isFailed();
         }
 
-    public bool succeeded() {
+        public bool succeeded()
+        {
             return status.isSuccess();
         }
-
+    }
-}
-
 }

src/DotRecast.Detour/Status.cs

@@ -17,11 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    public class Status
-
+    {
-public class Status {
         public static Status FAILURE = new Status(0);
         public static Status SUCCSESS = new Status(1);
         public static Status IN_PROGRESS = new Status(2);
@@ -34,26 +34,28 @@ public class Status {
         {
             Value = vlaue;
         }
-}
+    }
 
-public static class StatusEx
+    public static class StatusEx
-{
+    {
-    public static bool isFailed(this Status @this) {
+        public static bool isFailed(this Status @this)
+        {
             return @this == Status.FAILURE || @this == Status.FAILURE_INVALID_PARAM;
         }
 
-    public static bool isInProgress(this Status @this) {
+        public static bool isInProgress(this Status @this)
+        {
             return @this == Status.IN_PROGRESS;
         }
 
-    public static bool isSuccess(this Status @this) {
+        public static bool isSuccess(this Status @this)
+        {
             return @this == Status.SUCCSESS || @this == Status.PARTIAL_RESULT;
         }
 
-    public static bool isPartial(this Status @this) {
+        public static bool isPartial(this Status @this)
+        {
             return @this == Status.PARTIAL_RESULT;
         }
-    
+    }
-}
-
 }

src/DotRecast.Detour/StraightPathItem.cs

@@ -17,35 +17,38 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Detour
 {
-
+    using static DetourCommon;
-
-using static DetourCommon;
 
 //TODO: (PP) Add comments
-public class StraightPathItem {
+    public class StraightPathItem
+    {
         public float[] pos;
         public int flags;
         public long refs;
 
-    public StraightPathItem(float[] pos, int flags, long refs) {
+        public StraightPathItem(float[] pos, int flags, long refs)
+        {
             this.pos = vCopy(pos);
             this.flags = flags;
             this.refs = refs;
         }
 
-    public float[] getPos() {
+        public float[] getPos()
+        {
             return pos;
         }
 
-    public int getFlags() {
+        public int getFlags()
+        {
             return flags;
         }
 
-    public long getRef() {
+        public long getRef()
+        {
             return refs;
         }
-
+    }
-}
 }

src/DotRecast.Detour/VectorPtr.cs

@@ -20,14 +20,12 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-
+    /**
-
-/**
  * Wrapper for 3-element pieces (3D vectors) of a bigger float array.
  *
  */
-public class VectorPtr
+    public class VectorPtr
-{
+    {
         private readonly float[] array;
         private readonly int index;
 
@@ -46,5 +44,5 @@ public class VectorPtr
         {
             return array[index + offset];
         }
-}
+    }
 }

src/DotRecast.Recast.Demo/Builder/AbstractNavMeshBuilder.cs

@@ -3,17 +3,20 @@ using DotRecast.Recast.Demo.Geom;
 
 namespace DotRecast.Recast.Demo.Builder;
 
-public abstract class AbstractNavMeshBuilder {
+public abstract class AbstractNavMeshBuilder
-
+{
     protected NavMeshDataCreateParams getNavMeshCreateParams(DemoInputGeomProvider m_geom, float m_cellSize,
         float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb,
-            RecastBuilderResult rcResult) {
+        RecastBuilderResult rcResult)
+    {
         PolyMesh m_pmesh = rcResult.getMesh();
         PolyMeshDetail m_dmesh = rcResult.getMeshDetail();
         NavMeshDataCreateParams option = new NavMeshDataCreateParams();
-        for (int i = 0; i < m_pmesh.npolys; ++i) {
+        for (int i = 0; i < m_pmesh.npolys; ++i)
+        {
             m_pmesh.flags[i] = 1;
         }
+
         option.verts = m_pmesh.verts;
         option.vertCount = m_pmesh.nverts;
         option.polys = m_pmesh.polys;
@@ -21,13 +24,15 @@ public abstract class AbstractNavMeshBuilder {
         option.polyFlags = m_pmesh.flags;
         option.polyCount = m_pmesh.npolys;
         option.nvp = m_pmesh.nvp;
-        if (m_dmesh != null) {
+        if (m_dmesh != null)
+        {
             option.detailMeshes = m_dmesh.meshes;
             option.detailVerts = m_dmesh.verts;
             option.detailVertsCount = m_dmesh.nverts;
             option.detailTris = m_dmesh.tris;
             option.detailTriCount = m_dmesh.ntris;
         }
+
         option.walkableHeight = m_agentHeight;
         option.walkableRadius = m_agentRadius;
         option.walkableClimb = m_agentMaxClimb;
@@ -44,35 +49,49 @@ public abstract class AbstractNavMeshBuilder {
         option.offMeshConAreas = new int[option.offMeshConCount];
         option.offMeshConFlags = new int[option.offMeshConCount];
         option.offMeshConUserID = new int[option.offMeshConCount];
-        for (int i = 0; i < option.offMeshConCount; i++) {
+        for (int i = 0; i < option.offMeshConCount; i++)
+        {
             DemoOffMeshConnection offMeshCon = m_geom.getOffMeshConnections()[i];
-            for (int j = 0; j < 6; j++) {
+            for (int j = 0; j < 6; j++)
+            {
                 option.offMeshConVerts[6 * i + j] = offMeshCon.verts[j];
             }
+
             option.offMeshConRad[i] = offMeshCon.radius;
             option.offMeshConDir[i] = offMeshCon.bidir ? 1 : 0;
             option.offMeshConAreas[i] = offMeshCon.area;
             option.offMeshConFlags[i] = offMeshCon.flags;
         }
+
         return option;
     }
 
-    protected MeshData updateAreaAndFlags(MeshData meshData) {
+    protected MeshData updateAreaAndFlags(MeshData meshData)
+    {
         // Update poly flags from areas.
-        for (int i = 0; i < meshData.polys.Length; ++i) {
+        for (int i = 0; i < meshData.polys.Length; ++i)
-            if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE) {
+        {
+            if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE)
+            {
                 meshData.polys[i].setArea(SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND);
             }
+
             if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND
                 || meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS
-                    || meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD) {
+                || meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD)
+            {
                 meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK;
-            } else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER) {
+            }
+            else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER)
+            {
                 meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM;
-            } else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR) {
+            }
+            else if (meshData.polys[i].getArea() == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR)
+            {
                 meshData.polys[i].flags = SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR;
             }
         }
+
         return meshData;
     }
 }

src/DotRecast.Recast.Demo/Builder/SampleAreaModifications.cs

@@ -17,10 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.Builder;
 
-public class SampleAreaModifications {
+public class SampleAreaModifications
-
+{
     public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x0;
     public const int SAMPLE_POLYAREA_TYPE_WATER = 0x1;
     public const int SAMPLE_POLYAREA_TYPE_ROAD = 0x2;

src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs

@@ -24,14 +24,14 @@ using DotRecast.Recast.Demo.Geom;
 
 namespace DotRecast.Recast.Demo.Builder;
 
-public class SoloNavMeshBuilder : AbstractNavMeshBuilder {
+public class SoloNavMeshBuilder : AbstractNavMeshBuilder
-
+{
     public Tuple<IList<RecastBuilderResult>, NavMesh> build(DemoInputGeomProvider m_geom, PartitionType m_partitionType,
         float m_cellSize, float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb,
         float m_agentMaxSlope, int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError,
         int m_vertsPerPoly, float m_detailSampleDist, float m_detailSampleMaxError, bool filterLowHangingObstacles,
-            bool filterLedgeSpans, bool filterWalkableLowHeightSpans) {
+        bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
-
+    {
         RecastBuilderResult rcResult = buildRecastResult(m_geom, m_partitionType, m_cellSize, m_cellHeight, m_agentHeight,
             m_agentRadius, m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError,
             m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, filterLowHangingObstacles, filterLedgeSpans,
@@ -42,7 +42,8 @@ public class SoloNavMeshBuilder : AbstractNavMeshBuilder {
                 m_vertsPerPoly));
     }
 
-    private NavMesh buildNavMesh(MeshData meshData, int m_vertsPerPoly) {
+    private NavMesh buildNavMesh(MeshData meshData, int m_vertsPerPoly)
+    {
         return new NavMesh(meshData, m_vertsPerPoly, 0);
     }
 
@@ -50,7 +51,8 @@ public class SoloNavMeshBuilder : AbstractNavMeshBuilder {
         float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope,
         int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly,
         float m_detailSampleDist, float m_detailSampleMaxError, bool filterLowHangingObstacles, bool filterLedgeSpans,
-            bool filterWalkableLowHeightSpans) {
+        bool filterWalkableLowHeightSpans)
+    {
         RecastConfig cfg = new RecastConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, filterLowHangingObstacles,
             filterLedgeSpans, filterWalkableLowHeightSpans, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_regionMinSize,
             m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError, m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError,
@@ -61,10 +63,10 @@ public class SoloNavMeshBuilder : AbstractNavMeshBuilder {
     }
 
     private MeshData buildMeshData(DemoInputGeomProvider m_geom, float m_cellSize, float m_cellHeight, float m_agentHeight,
-            float m_agentRadius, float m_agentMaxClimb, RecastBuilderResult rcResult) {
+        float m_agentRadius, float m_agentMaxClimb, RecastBuilderResult rcResult)
+    {
         NavMeshDataCreateParams option = getNavMeshCreateParams(m_geom, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius,
             m_agentMaxClimb, rcResult);
         return updateAreaAndFlags(NavMeshBuilder.createNavMeshData(option));
     }
-
 }

src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs

@@ -25,22 +25,23 @@ using DotRecast.Recast.Demo.Geom;
 
 namespace DotRecast.Recast.Demo.Builder;
 
-public class TileNavMeshBuilder : AbstractNavMeshBuilder {
+public class TileNavMeshBuilder : AbstractNavMeshBuilder
-
+{
-    public TileNavMeshBuilder() {
+    public TileNavMeshBuilder()
+    {
     }
 
     public Tuple<IList<RecastBuilderResult>, NavMesh> build(DemoInputGeomProvider m_geom, PartitionType m_partitionType,
         float m_cellSize, float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb,
         float m_agentMaxSlope, int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError,
         int m_vertsPerPoly, float m_detailSampleDist, float m_detailSampleMaxError, bool filterLowHangingObstacles,
-            bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize) {
+        bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize)
-
+    {
         List<RecastBuilderResult> rcResult = buildRecastResult(m_geom, m_partitionType, m_cellSize, m_cellHeight, m_agentHeight,
             m_agentRadius, m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError,
             m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, filterLowHangingObstacles, filterLedgeSpans,
             filterWalkableLowHeightSpans, tileSize);
-        return Tuple.Create((IList<RecastBuilderResult>) rcResult,
+        return Tuple.Create((IList<RecastBuilderResult>)rcResult,
             buildNavMesh(m_geom,
                 buildMeshData(m_geom, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius, m_agentMaxClimb, rcResult),
                 m_cellSize, tileSize, m_vertsPerPoly));
@@ -50,7 +51,8 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
         float m_cellSize, float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb,
         float m_agentMaxSlope, int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError,
         int m_vertsPerPoly, float m_detailSampleDist, float m_detailSampleMaxError, bool filterLowHangingObstacles,
-            bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize) {
+        bool filterLedgeSpans, bool filterWalkableLowHeightSpans, int tileSize)
+    {
         RecastConfig cfg = new RecastConfig(true, tileSize, tileSize, RecastConfig.calcBorder(m_agentRadius, m_cellSize),
             m_partitionType, m_cellSize, m_cellHeight, m_agentMaxSlope, filterLowHangingObstacles, filterLedgeSpans,
             filterWalkableLowHeightSpans, m_agentHeight, m_agentRadius, m_agentMaxClimb,
@@ -62,7 +64,8 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
     }
 
     private NavMesh buildNavMesh(DemoInputGeomProvider geom, List<MeshData> meshData, float cellSize, int tileSize,
-            int vertsPerPoly) {
+        int vertsPerPoly)
+    {
         NavMeshParams navMeshParams = new NavMeshParams();
         navMeshParams.orig[0] = geom.getMeshBoundsMin()[0];
         navMeshParams.orig[1] = geom.getMeshBoundsMin()[1];
@@ -79,17 +82,20 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
         return navMesh;
     }
 
-    public int getMaxTiles(DemoInputGeomProvider geom, float cellSize, int tileSize) {
+    public int getMaxTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
+    {
         int tileBits = getTileBits(geom, cellSize, tileSize);
         return 1 << tileBits;
     }
 
-    public int getMaxPolysPerTile(DemoInputGeomProvider geom, float cellSize, int tileSize) {
+    public int getMaxPolysPerTile(DemoInputGeomProvider geom, float cellSize, int tileSize)
+    {
         int polyBits = 22 - getTileBits(geom, cellSize, tileSize);
         return 1 << polyBits;
     }
 
-    private int getTileBits(DemoInputGeomProvider geom, float cellSize, int tileSize) {
+    private int getTileBits(DemoInputGeomProvider geom, float cellSize, int tileSize)
+    {
         int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize);
         int tw = (wh[0] + tileSize - 1) / tileSize;
         int th = (wh[1] + tileSize - 1) / tileSize;
@@ -97,7 +103,8 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
         return tileBits;
     }
 
-    public int[] getTiles(DemoInputGeomProvider geom, float cellSize, int tileSize) {
+    public int[] getTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
+    {
         int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize);
         int tw = (wh[0] + tileSize - 1) / tileSize;
         int th = (wh[1] + tileSize - 1) / tileSize;
@@ -105,11 +112,12 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
     }
 
     private List<MeshData> buildMeshData(DemoInputGeomProvider m_geom, float m_cellSize, float m_cellHeight, float m_agentHeight,
-            float m_agentRadius, float m_agentMaxClimb, List<RecastBuilderResult> rcResult) {
+        float m_agentRadius, float m_agentMaxClimb, List<RecastBuilderResult> rcResult)
-
+    {
         // Add tiles to nav mesh
         List<MeshData> meshData = new();
-        foreach (RecastBuilderResult result in rcResult) {
+        foreach (RecastBuilderResult result in rcResult)
+        {
             int x = result.tileX;
             int z = result.tileZ;
             NavMeshDataCreateParams option = getNavMeshCreateParams(m_geom, m_cellSize, m_cellHeight, m_agentHeight,
@@ -117,11 +125,12 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder {
             option.tileX = x;
             option.tileZ = z;
             MeshData md = NavMeshBuilder.createNavMeshData(option);
-            if (md != null) {
+            if (md != null)
+            {
                 meshData.Add(updateAreaAndFlags(md));
             }
         }
+
         return meshData;
     }
-
 }

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

@@ -7,18 +7,18 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Serilog" Version="2.12.0" />
+        <PackageReference Include="Serilog" Version="2.12.0"/>
-    <PackageReference Include="Silk.NET" Version="2.16.0" />
+        <PackageReference Include="Silk.NET" Version="2.16.0"/>
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.16.0" />
+        <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.16.0"/>
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Detour.Crowd\DotRecast.Detour.Crowd.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour.Crowd\DotRecast.Detour.Crowd.csproj"/>
-    <ProjectReference Include="..\DotRecast.Detour.Dynamic\DotRecast.Detour.Dynamic.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour.Dynamic\DotRecast.Detour.Dynamic.csproj"/>
-    <ProjectReference Include="..\DotRecast.Detour.Extras\DotRecast.Detour.Extras.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour.Extras\DotRecast.Detour.Extras.csproj"/>
-    <ProjectReference Include="..\DotRecast.Detour.TileCache\DotRecast.Detour.TileCache.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour.TileCache\DotRecast.Detour.TileCache.csproj"/>
-    <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

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

@@ -25,8 +25,8 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public class DebugDraw {
+public class DebugDraw
-
+{
     private readonly GLCheckerTexture g_tex = new GLCheckerTexture();
     private readonly OpenGLDraw openGlDraw = new ModernOpenGLDraw();
     private readonly int[] boxIndices = { 7, 6, 5, 4, 0, 1, 2, 3, 1, 5, 6, 2, 3, 7, 4, 0, 2, 6, 7, 3, 0, 4, 5, 1, };
@@ -42,12 +42,14 @@ public class DebugDraw {
     };
 
 
-    public void begin(DebugDrawPrimitives prim) {
+    public void begin(DebugDrawPrimitives prim)
+    {
         begin(prim, 1f);
     }
 
     public void debugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col,
-            float lineWidth) {
+        float lineWidth)
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendCylinderWire(minx, miny, minz, maxx, maxy, maxz, col);
         end();
@@ -57,19 +59,22 @@ public class DebugDraw {
     private readonly float[] cylinderDir = new float[CYLINDER_NUM_SEG * 2];
     private bool cylinderInit = false;
 
-    private void initCylinder() {
+    private void initCylinder()
-        if (!cylinderInit) {
+    {
+        if (!cylinderInit)
+        {
             cylinderInit = true;
-            for (int i = 0; i < CYLINDER_NUM_SEG; ++i) {
+            for (int i = 0; i < CYLINDER_NUM_SEG; ++i)
-                float a = (float) (i * Math.PI * 2 / CYLINDER_NUM_SEG);
+            {
-                cylinderDir[i * 2] = (float) Math.Cos(a);
+                float a = (float)(i * Math.PI * 2 / CYLINDER_NUM_SEG);
-                cylinderDir[i * 2 + 1] = (float) Math.Sin(a);
+                cylinderDir[i * 2] = (float)Math.Cos(a);
+                cylinderDir[i * 2 + 1] = (float)Math.Sin(a);
             }
         }
     }
 
-    void appendCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) {
+    void appendCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col)
-
+    {
         initCylinder();
 
         float cx = (maxx + minx) / 2;
@@ -77,27 +82,31 @@ public class DebugDraw {
         float rx = (maxx - minx) / 2;
         float rz = (maxz - minz) / 2;
 
-        for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++) {
+        for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++)
+        {
             vertex(cx + cylinderDir[j * 2 + 0] * rx, miny, cz + cylinderDir[j * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[j * 2 + 0] * rx, maxy, cz + cylinderDir[j * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[i * 2 + 0] * rx, maxy, cz + cylinderDir[i * 2 + 1] * rz, col);
         }
-        for (int i = 0; i < CYLINDER_NUM_SEG; i += CYLINDER_NUM_SEG / 4) {
+
+        for (int i = 0; i < CYLINDER_NUM_SEG; i += CYLINDER_NUM_SEG / 4)
+        {
             vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[i * 2 + 0] * rx, maxy, cz + cylinderDir[i * 2 + 1] * rz, col);
         }
     }
 
     public void debugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col,
-            float lineWidth) {
+        float lineWidth)
-
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendBoxWire(minx, miny, minz, maxx, maxy, maxz, col);
         end();
     }
 
-    public void appendBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) {
+    public void appendBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col)
+    {
         // Top
         vertex(minx, miny, minz, col);
         vertex(maxx, miny, minz, col);
@@ -129,8 +138,10 @@ public class DebugDraw {
         vertex(minx, maxy, maxz, col);
     }
 
-    public void appendBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol) {
+    public void appendBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol)
-        float[][] verts = { 
+    {
+        float[][] verts =
+        {
             new[] { minx, miny, minz },
             new[] { maxx, miny, minz },
             new[] { maxx, miny, maxz },
@@ -138,10 +149,12 @@ public class DebugDraw {
             new[] { minx, maxy, minz },
             new[] { maxx, maxy, minz },
             new[] { maxx, maxy, maxz },
-            new[] { minx, maxy, maxz } };
+            new[] { minx, maxy, maxz }
+        };
 
         int idx = 0;
-        for (int i = 0; i < 6; ++i) {
+        for (int i = 0; i < 6; ++i)
+        {
             vertex(verts[boxIndices[idx]], fcol[i]);
             idx++;
             vertex(verts[boxIndices[idx]], fcol[i]);
@@ -154,37 +167,45 @@ public class DebugDraw {
     }
 
     public void debugDrawArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col,
-            float lineWidth) {
+        float lineWidth)
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendArc(x0, y0, z0, x1, y1, z1, h, as0, as1, col);
         end();
     }
 
-    public void begin(DebugDrawPrimitives prim, float size) {
+    public void begin(DebugDrawPrimitives prim, float size)
+    {
         getOpenGlDraw().begin(prim, size);
     }
 
-    public void vertex(float[] pos, int color) {
+    public void vertex(float[] pos, int color)
+    {
         getOpenGlDraw().vertex(pos, color);
     }
 
-    public void vertex(float x, float y, float z, int color) {
+    public void vertex(float x, float y, float z, int color)
+    {
         getOpenGlDraw().vertex(x, y, z, color);
     }
 
-    public void vertex(float[] pos, int color, float[] uv) {
+    public void vertex(float[] pos, int color, float[] uv)
+    {
         getOpenGlDraw().vertex(pos, color, uv);
     }
 
-    public void vertex(float x, float y, float z, int color, float u, float v) {
+    public void vertex(float x, float y, float z, int color, float u, float v)
+    {
         getOpenGlDraw().vertex(x, y, z, color, u, v);
     }
 
-    public void end() {
+    public void end()
+    {
         getOpenGlDraw().end();
     }
 
-    public void debugDrawCircle(float x, float y, float z, float r, int col, float lineWidth) {
+    public void debugDrawCircle(float x, float y, float z, float r, int col, float lineWidth)
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendCircle(x, y, z, r, col);
         end();
@@ -196,16 +217,21 @@ public class DebugDraw {
     private float[] _viewMatrix = new float[16];
     private readonly float[] _projectionMatrix = new float[16];
 
-    public void appendCircle(float x, float y, float z, float r, int col) {
+    public void appendCircle(float x, float y, float z, float r, int col)
-        if (!circleInit) {
+    {
+        if (!circleInit)
+        {
             circleInit = true;
-            for (int i = 0; i < CIRCLE_NUM_SEG; ++i) {
+            for (int i = 0; i < CIRCLE_NUM_SEG; ++i)
-                float a = (float) (i * Math.PI * 2 / CIRCLE_NUM_SEG);
+            {
-                circeDir[i * 2] = (float) Math.Cos(a);
+                float a = (float)(i * Math.PI * 2 / CIRCLE_NUM_SEG);
-                circeDir[i * 2 + 1] = (float) Math.Sin(a);
+                circeDir[i * 2] = (float)Math.Cos(a);
+                circeDir[i * 2 + 1] = (float)Math.Sin(a);
             }
         }
-        for (int i = 0, j = CIRCLE_NUM_SEG - 1; i < CIRCLE_NUM_SEG; j = i++) {
+
+        for (int i = 0, j = CIRCLE_NUM_SEG - 1; i < CIRCLE_NUM_SEG; j = i++)
+        {
             vertex(x + circeDir[j * 2 + 0] * r, y, z + circeDir[j * 2 + 1] * r, col);
             vertex(x + circeDir[i * 2 + 0] * r, y, z + circeDir[i * 2 + 1] * r, col);
         }
@@ -215,14 +241,16 @@ public class DebugDraw {
     private static readonly float PAD = 0.05f;
     private static readonly float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
 
-    public void appendArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col) {
+    public void appendArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col)
+    {
         float dx = x1 - x0;
         float dy = y1 - y0;
         float dz = z1 - z0;
-        float len = (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        float len = (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
         float[] prev = new float[3];
         evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, prev);
-        for (int i = 1; i <= NUM_ARC_PTS; ++i) {
+        for (int i = 1; i <= NUM_ARC_PTS; ++i)
+        {
             float u = PAD + i * ARC_PTS_SCALE;
             float[] pt = new float[3];
             evalArc(x0, y0, z0, dx, dy, dz, len * h, u, pt);
@@ -234,14 +262,16 @@ public class DebugDraw {
         }
 
         // End arrows
-        if (as0 > 0.001f) {
+        if (as0 > 0.001f)
+        {
             float[] p = new float[3], q = new float[3];
             evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD, p);
             evalArc(x0, y0, z0, dx, dy, dz, len * h, PAD + 0.05f, q);
             appendArrowHead(p, q, as0, col);
         }
 
-        if (as1 > 0.001f) {
+        if (as1 > 0.001f)
+        {
             float[] p = new float[3], q = new float[3];
             evalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - PAD, p);
             evalArc(x0, y0, z0, dx, dy, dz, len * h, 1 - (PAD + 0.05f), q);
@@ -249,19 +279,22 @@ public class DebugDraw {
         }
     }
 
-    private void evalArc(float x0, float y0, float z0, float dx, float dy, float dz, float h, float u, float[] res) {
+    private void evalArc(float x0, float y0, float z0, float dx, float dy, float dz, float h, float u, float[] res)
+    {
         res[0] = x0 + dx * u;
         res[1] = y0 + dy * u + h * (1 - (u * 2 - 1) * (u * 2 - 1));
         res[2] = z0 + dz * u;
     }
 
-    public void debugDrawCross(float x, float y, float z, float size, int col, float lineWidth) {
+    public void debugDrawCross(float x, float y, float z, float size, int col, float lineWidth)
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendCross(x, y, z, size, col);
         end();
     }
 
-    private void appendCross(float x, float y, float z, float s, int col) {
+    private void appendCross(float x, float y, float z, float s, int col)
+    {
         vertex(x - s, y, z, col);
         vertex(x + s, y, z, col);
         vertex(x, y - s, z, col);
@@ -270,19 +303,22 @@ public class DebugDraw {
         vertex(x, y, z + s, col);
     }
 
-    public void debugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol) {
+    public void debugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, int[] fcol)
+    {
         begin(DebugDrawPrimitives.QUADS);
         appendBox(minx, miny, minz, maxx, maxy, maxz, fcol);
         end();
     }
 
-    public void debugDrawCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) {
+    public void debugDrawCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col)
+    {
         begin(DebugDrawPrimitives.TRIS);
         appendCylinder(minx, miny, minz, maxx, maxy, maxz, col);
         end();
     }
 
-    public void appendCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col) {
+    public void appendCylinder(float minx, float miny, float minz, float maxx, float maxy, float maxz, int col)
+    {
         initCylinder();
 
         int col2 = duMultCol(col, 160);
@@ -292,19 +328,24 @@ public class DebugDraw {
         float rx = (maxx - minx) / 2;
         float rz = (maxz - minz) / 2;
 
-        for (int i = 2; i < CYLINDER_NUM_SEG; ++i) {
+        for (int i = 2; i < CYLINDER_NUM_SEG; ++i)
+        {
             int a = 0, b = i - 1, c = i;
             vertex(cx + cylinderDir[a * 2 + 0] * rx, miny, cz + cylinderDir[a * 2 + 1] * rz, col2);
             vertex(cx + cylinderDir[b * 2 + 0] * rx, miny, cz + cylinderDir[b * 2 + 1] * rz, col2);
             vertex(cx + cylinderDir[c * 2 + 0] * rx, miny, cz + cylinderDir[c * 2 + 1] * rz, col2);
         }
-        for (int i = 2; i < CYLINDER_NUM_SEG; ++i) {
+
+        for (int i = 2; i < CYLINDER_NUM_SEG; ++i)
+        {
             int a = 0, b = i, c = i - 1;
             vertex(cx + cylinderDir[a * 2 + 0] * rx, maxy, cz + cylinderDir[a * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[b * 2 + 0] * rx, maxy, cz + cylinderDir[b * 2 + 1] * rz, col);
             vertex(cx + cylinderDir[c * 2 + 0] * rx, maxy, cz + cylinderDir[c * 2 + 1] * rz, col);
         }
-        for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++) {
+
+        for (int i = 0, j = CYLINDER_NUM_SEG - 1; i < CYLINDER_NUM_SEG; j = i++)
+        {
             vertex(cx + cylinderDir[i * 2 + 0] * rx, miny, cz + cylinderDir[i * 2 + 1] * rz, col2);
             vertex(cx + cylinderDir[j * 2 + 0] * rx, miny, cz + cylinderDir[j * 2 + 1] * rz, col2);
             vertex(cx + cylinderDir[j * 2 + 0] * rx, maxy, cz + cylinderDir[j * 2 + 1] * rz, col);
@@ -316,15 +357,15 @@ public class DebugDraw {
     }
 
     public void debugDrawArrow(float x0, float y0, float z0, float x1, float y1, float z1, float as0, float as1, int col,
-            float lineWidth) {
+        float lineWidth)
-
+    {
         begin(DebugDrawPrimitives.LINES, lineWidth);
         appendArrow(x0, y0, z0, x1, y1, z1, as0, as1, col);
         end();
     }
 
-    public void appendArrow(float x0, float y0, float z0, float x1, float y1, float z1, float as0, float as1, int col) {
+    public void appendArrow(float x0, float y0, float z0, float x1, float y1, float z1, float as0, float as1, int col)
-
+    {
         vertex(x0, y0, z0, col);
         vertex(x1, y1, z1, col);
 
@@ -337,11 +378,14 @@ public class DebugDraw {
             appendArrowHead(q, p, as1, col);
     }
 
-    void appendArrowHead(float[] p, float[] q, float s, int col) {
+    void appendArrowHead(float[] p, float[] q, float s, int col)
+    {
         float eps = 0.001f;
-        if (vdistSqr(p, q) < eps * eps) {
+        if (vdistSqr(p, q) < eps * eps)
+        {
             return;
         }
+
         float[] ax = new float[3], ay = { 0, 1, 0 }, az = new float[3];
         vsub(az, q, p);
         vnormalize(az);
@@ -356,29 +400,32 @@ public class DebugDraw {
         vertex(p, col);
         // vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col);
         vertex(p[0] + az[0] * s - ax[0] * s / 3, p[1] + az[1] * s - ax[1] * s / 3, p[2] + az[2] * s - ax[2] * s / 3, col);
-
     }
 
-    public void vcross(float[] dest, float[] v1, float[] v2) {
+    public void vcross(float[] dest, float[] v1, float[] v2)
+    {
         dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
         dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
         dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
     }
 
-    public void vnormalize(float[] v) {
+    public void vnormalize(float[] v)
-        float d = (float) (1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]));
+    {
+        float d = (float)(1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]));
         v[0] *= d;
         v[1] *= d;
         v[2] *= d;
     }
 
-    public void vsub(float[] dest, float[] v1, float[] v2) {
+    public void vsub(float[] dest, float[] v1, float[] v2)
+    {
         dest[0] = v1[0] - v2[0];
         dest[1] = v1[1] - v2[1];
         dest[2] = v1[2] - v2[2];
     }
 
-    public float vdistSqr(float[] v1, float[] v2) {
+    public float vdistSqr(float[] v1, float[] v2)
+    {
         float x = v1[0] - v2[0];
         float y = v1[1] - v2[1];
         float z = v1[2] - v2[2];
@@ -393,8 +440,10 @@ public class DebugDraw {
 //        }
 //    }
 
-    public static int areaToCol(int area) {
+    public static int areaToCol(int area)
-        switch (area) {
+    {
+        switch (area)
+        {
             // Ground (0) : light blue
             case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WALKABLE:
             case SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND:
@@ -420,11 +469,13 @@ public class DebugDraw {
         }
     }
 
-    public static int duRGBA(int r, int g, int b, int a) {
+    public static int duRGBA(int r, int g, int b, int a)
+    {
         return (r) | (g << 8) | (b << 16) | (a << 24);
     }
 
-    public static int duLerpCol(int ca, int cb, int u) {
+    public static int duLerpCol(int ca, int cb, int u)
+    {
         int ra = ca & 0xff;
         int ga = (ca >> 8) & 0xff;
         int ba = (ca >> 16) & 0xff;
@@ -441,18 +492,21 @@ public class DebugDraw {
         return duRGBA(r, g, b, a);
     }
 
-    public static int bit(int a, int b) {
+    public static int bit(int a, int b)
+    {
         return (a & (1 << b)) >>> b;
     }
 
-    public static int duIntToCol(int i, int a) {
+    public static int duIntToCol(int i, int a)
+    {
         int r = bit(i, 1) + bit(i, 3) * 2 + 1;
         int g = bit(i, 2) + bit(i, 4) * 2 + 1;
         int b = bit(i, 0) + bit(i, 5) * 2 + 1;
         return duRGBA(r * 63, g * 63, b * 63, a);
     }
 
-    public static void duCalcBoxColors(int[] colors, int colTop, int colSide) {
+    public static void duCalcBoxColors(int[] colors, int colTop, int colSide)
+    {
         colors[0] = duMultCol(colTop, 250);
         colors[1] = duMultCol(colSide, 140);
         colors[2] = duMultCol(colSide, 165);
@@ -461,7 +515,8 @@ public class DebugDraw {
         colors[5] = duMultCol(colSide, 217);
     }
 
-    public static int duMultCol(int col, int d) {
+    public static int duMultCol(int col, int d)
+    {
         int r = col & 0xff;
         int g = (col >> 8) & 0xff;
         int b = (col >> 16) & 0xff;
@@ -469,46 +524,56 @@ public class DebugDraw {
         return duRGBA((r * d) >> 8, (g * d) >> 8, (b * d) >> 8, a);
     }
 
-    public static int duTransCol(int c, int a) {
+    public static int duTransCol(int c, int a)
+    {
         return (a << 24) | (c & 0x00ffffff);
     }
 
-    public static int duDarkenCol(int col) {
+    public static int duDarkenCol(int col)
+    {
         return (int)(((col >> 1) & 0x007f7f7f) | (col & 0xff000000));
     }
 
-    public void fog(float start, float end) {
+    public void fog(float start, float end)
+    {
         getOpenGlDraw().fog(start, end);
     }
 
-    public void fog(bool state) {
+    public void fog(bool state)
+    {
         getOpenGlDraw().fog(state);
     }
 
-    public void depthMask(bool state) {
+    public void depthMask(bool state)
+    {
         getOpenGlDraw().depthMask(state);
     }
 
-    public void texture(bool state) {
+    public void texture(bool state)
+    {
         getOpenGlDraw().texture(g_tex, state);
     }
 
-    public void init(GL gl, float fogDistance) {
+    public void init(GL gl, float fogDistance)
+    {
         getOpenGlDraw().init(gl);
     }
 
-    public void clear() {
+    public void clear()
+    {
         getOpenGlDraw().clear();
     }
 
-    public float[] projectionMatrix(float fovy, float aspect, float near, float far) {
+    public float[] projectionMatrix(float fovy, float aspect, float near, float far)
+    {
         GLU.glhPerspectivef2(_projectionMatrix, fovy, aspect, near, far);
         getOpenGlDraw().projectionMatrix(_projectionMatrix);
         updateFrustum();
         return _projectionMatrix;
     }
 
-    public float[] viewMatrix(float[] cameraPos, float[] cameraEulers) {
+    public float[] viewMatrix(float[] cameraPos, float[] cameraEulers)
+    {
         float[] rx = GLU.build_4x4_rotation_matrix(cameraEulers[0], 1, 0, 0);
         float[] ry = GLU.build_4x4_rotation_matrix(cameraEulers[1], 0, 1, 0);
         float[] r = GLU.mul(rx, ry);
@@ -523,11 +588,13 @@ public class DebugDraw {
         return _viewMatrix;
     }
 
-    private OpenGLDraw getOpenGlDraw() {
+    private OpenGLDraw getOpenGlDraw()
+    {
         return openGlDraw;
     }
 
-    private void updateFrustum() {
+    private void updateFrustum()
+    {
         float[] vpm = GLU.mul(_projectionMatrix, _viewMatrix);
         // left
         frustumPlanes[0] = normalizePlane(vpm[0 + 3] + vpm[0 + 0], vpm[4 + 3] + vpm[4 + 0], vpm[8 + 3] + vpm[8 + 0],
@@ -549,56 +616,75 @@ public class DebugDraw {
             vpm[12 + 3] - vpm[12 + 2]);
     }
 
-    private float[] normalizePlane(float px, float py, float pz, float pw) {
+    private float[] normalizePlane(float px, float py, float pz, float pw)
-        float length = (float) Math.Sqrt(px * px + py * py + pz * pz);
+    {
-        if (length != 0) {
+        float length = (float)Math.Sqrt(px * px + py * py + pz * pz);
+        if (length != 0)
+        {
             length = 1f / length;
             px *= length;
             py *= length;
             pz *= length;
             pw *= length;
         }
+
         return new float[] { px, py, pz, pw };
     }
 
-    public bool frustumTest(float[] bmin, float[] bmax) {
+    public bool frustumTest(float[] bmin, float[] bmax)
+    {
         return frustumTest(new float[] { bmin[0], bmin[1], bmin[2], bmax[0], bmax[1], bmax[2] });
     }
 
-    public bool frustumTest(float[] bounds) {
+    public bool frustumTest(float[] bounds)
-        foreach (float[] plane in frustumPlanes) {
+    {
+        foreach (float[] plane in frustumPlanes)
+        {
             float p_x;
             float p_y;
             float p_z;
             float n_x;
             float n_y;
             float n_z;
-            if (plane[0] >= 0) {
+            if (plane[0] >= 0)
+            {
                 p_x = bounds[3];
                 n_x = bounds[0];
-            } else {
+            }
+            else
+            {
                 p_x = bounds[0];
                 n_x = bounds[3];
             }
-            if (plane[1] >= 0) {
+
+            if (plane[1] >= 0)
+            {
                 p_y = bounds[4];
                 n_y = bounds[1];
-            } else {
+            }
+            else
+            {
                 p_y = bounds[1];
                 n_y = bounds[4];
             }
-            if (plane[2] >= 0) {
+
+            if (plane[2] >= 0)
+            {
                 p_z = bounds[5];
                 n_z = bounds[2];
-            } else {
+            }
+            else
+            {
                 p_z = bounds[2];
                 n_z = bounds[5];
             }
-            if (plane[0] * p_x + plane[1] * p_y + plane[2] * p_z + plane[3] < 0) {
+
+            if (plane[0] * p_x + plane[1] * p_y + plane[2] * p_z + plane[3] < 0)
+            {
                 return false;
             }
         }
+
         return true;
     }
-
 }

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

@@ -17,10 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.Draw;
 
-public enum DebugDrawPrimitives {
+public enum DebugDrawPrimitives
-
+{
     POINTS,
     LINES,
     TRIS,

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

@@ -17,9 +17,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.Draw;
 
-public class DrawMode {
+public class DrawMode
+{
     public static readonly DrawMode DRAWMODE_MESH = new("Input Mesh");
     public static readonly DrawMode DRAWMODE_NAVMESH = new("Navmesh");
     public static readonly DrawMode DRAWMODE_NAVMESH_INVIS = new("Navmesh Invis");
@@ -41,11 +43,13 @@ public class DrawMode {
 
     private readonly string text;
 
-    private DrawMode(string text) {
+    private DrawMode(string text)
+    {
         this.text = text;
     }
 
-    public override string ToString() {
+    public override string ToString()
+    {
         return text;
     }
 }

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

@@ -22,17 +22,19 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public class GLCheckerTexture {
+public class GLCheckerTexture
-
+{
     int m_texId;
 
-    public void release() {
+    public void release()
+    {
         // if (m_texId != 0) {
         //     glDeleteTextures(m_texId);
         // }
     }
 
-    public void bind() {
+    public void bind()
+    {
         // if (m_texId == 0) {
         //     // Create checker pattern.
         //     int col0 = DebugDraw.duRGBA(215, 215, 215, 255);

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

@@ -21,11 +21,10 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-
+public class GLU
-
+{
-public class GLU {
+    public static float[] gluPerspective(float fovy, float aspect, float near, float far)
-
+    {
-    public static float[] gluPerspective(float fovy, float aspect, float near, float far) {
         float[] projectionMatrix = new float[16];
         glhPerspectivef2(projectionMatrix, fovy, aspect, near, far);
         //glLoadMatrixf(projectionMatrix);
@@ -33,15 +32,17 @@ public class GLU {
     }
 
     public static void glhPerspectivef2(float[] matrix, float fovyInDegrees, float aspectRatio, float znear,
-            float zfar) {
+        float zfar)
+    {
         float ymax, xmax;
-        ymax = (float) (znear * Math.Tan(fovyInDegrees * Math.PI / 360.0));
+        ymax = (float)(znear * Math.Tan(fovyInDegrees * Math.PI / 360.0));
         xmax = ymax * aspectRatio;
         glhFrustumf2(matrix, -xmax, xmax, -ymax, ymax, znear, zfar);
     }
 
     private static void glhFrustumf2(float[] matrix, float left, float right, float bottom, float top, float znear,
-            float zfar) {
+        float zfar)
+    {
         float temp, temp2, temp3, temp4;
         temp = 2.0f * znear;
         temp2 = right - left;
@@ -66,7 +67,8 @@ public class GLU {
     }
 
     public static int glhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection,
-            int[] viewport, float[] objectCoordinate) {
+        int[] viewport, float[] objectCoordinate)
+    {
         // Transformation matrices
         float[] m = new float[16], A = new float[16];
         float[] @in = new float[4], @out = new float[4];
@@ -92,7 +94,8 @@ public class GLU {
         return 1;
     }
 
-    static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2) {
+    static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2)
+    {
         result[0] = matrix1[0] * matrix2[0] + matrix1[4] * matrix2[1] + matrix1[8] * matrix2[2]
                     + matrix1[12] * matrix2[3];
         result[4] = matrix1[0] * matrix2[4] + matrix1[4] * matrix2[5] + matrix1[8] * matrix2[6]
@@ -127,7 +130,8 @@ public class GLU {
                      + matrix1[15] * matrix2[15];
     }
 
-    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector) {
+    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector)
+    {
         resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2]
                           + matrix[12] * pvector[3];
         resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2]
@@ -139,7 +143,8 @@ public class GLU {
     }
 
     // This code comes directly from GLU except that it is for float
-    static int glhInvertMatrixf2(float[] m, float[] @out) {
+    static int glhInvertMatrixf2(float[] m, float[] @out)
+    {
         float[][] wtmp = ArrayUtils.Of<float>(4, 8);
         float m0, m1, m2, m3, s;
         float[] r0, r1, r2, r3;
@@ -172,21 +177,27 @@ public class GLU {
         r3[7] = 1.0f;
         r3[4] = r3[5] = r3[6] = 0.0f;
         /* choose pivot - or die */
-        if (Math.Abs(r3[0]) > Math.Abs(r2[0])) {
+        if (Math.Abs(r3[0]) > Math.Abs(r2[0]))
+        {
             float[] r = r2;
             r2 = r3;
             r3 = r;
         }
-        if (Math.Abs(r2[0]) > Math.Abs(r1[0])) {
+
+        if (Math.Abs(r2[0]) > Math.Abs(r1[0]))
+        {
             float[] r = r2;
             r2 = r1;
             r1 = r;
         }
-        if (Math.Abs(r1[0]) > Math.Abs(r0[0])) {
+
+        if (Math.Abs(r1[0]) > Math.Abs(r0[0]))
+        {
             float[] r = r1;
             r1 = r0;
             r0 = r;
         }
+
         if (0.0 == r0[0])
             return 0;
         /* eliminate first variable */
@@ -206,40 +217,52 @@ public class GLU {
         r2[3] -= m2 * s;
         r3[3] -= m3 * s;
         s = r0[4];
-        if (s != 0.0) {
+        if (s != 0.0)
+        {
             r1[4] -= m1 * s;
             r2[4] -= m2 * s;
             r3[4] -= m3 * s;
         }
+
         s = r0[5];
-        if (s != 0.0) {
+        if (s != 0.0)
+        {
             r1[5] -= m1 * s;
             r2[5] -= m2 * s;
             r3[5] -= m3 * s;
         }
+
         s = r0[6];
-        if (s != 0.0) {
+        if (s != 0.0)
+        {
             r1[6] -= m1 * s;
             r2[6] -= m2 * s;
             r3[6] -= m3 * s;
         }
+
         s = r0[7];
-        if (s != 0.0) {
+        if (s != 0.0)
+        {
             r1[7] -= m1 * s;
             r2[7] -= m2 * s;
             r3[7] -= m3 * s;
         }
+
         /* choose pivot - or die */
-        if (Math.Abs(r3[1]) > Math.Abs(r2[1])) {
+        if (Math.Abs(r3[1]) > Math.Abs(r2[1]))
+        {
             float[] r = r2;
             r2 = r3;
             r3 = r;
         }
-        if (Math.Abs(r2[1]) > Math.Abs(r1[1])) {
+
+        if (Math.Abs(r2[1]) > Math.Abs(r1[1]))
+        {
             float[] r = r2;
             r2 = r1;
             r1 = r;
         }
+
         if (0.0 == r1[1])
             return 0;
         /* eliminate second variable */
@@ -250,31 +273,41 @@ public class GLU {
         r2[3] -= m2 * r1[3];
         r3[3] -= m3 * r1[3];
         s = r1[4];
-        if (0.0 != s) {
+        if (0.0 != s)
+        {
             r2[4] -= m2 * s;
             r3[4] -= m3 * s;
         }
+
         s = r1[5];
-        if (0.0 != s) {
+        if (0.0 != s)
+        {
             r2[5] -= m2 * s;
             r3[5] -= m3 * s;
         }
+
         s = r1[6];
-        if (0.0 != s) {
+        if (0.0 != s)
+        {
             r2[6] -= m2 * s;
             r3[6] -= m3 * s;
         }
+
         s = r1[7];
-        if (0.0 != s) {
+        if (0.0 != s)
+        {
             r2[7] -= m2 * s;
             r3[7] -= m3 * s;
         }
+
         /* choose pivot - or die */
-        if (Math.Abs(r3[2]) > Math.Abs(r2[2])) {
+        if (Math.Abs(r3[2]) > Math.Abs(r2[2]))
+        {
             float[] r = r2;
             r2 = r3;
             r3 = r;
         }
+
         if (0.0 == r2[2])
             return 0;
         /* eliminate third variable */
@@ -344,19 +377,22 @@ public class GLU {
         return 1;
     }
 
-    static float MAT(float[] m, int r, int c) {
+    static float MAT(float[] m, int r, int c)
+    {
         return m[(c) * 4 + (r)];
     }
 
-    static void MAT(float[] m, int r, int c, float v) {
+    static void MAT(float[] m, int r, int c, float v)
+    {
         m[(c) * 4 + (r)] = v;
     }
 
-    public static float[] build_4x4_rotation_matrix(float a, float x, float y, float z) {
+    public static float[] build_4x4_rotation_matrix(float a, float x, float y, float z)
+    {
         float[] matrix = new float[16];
-        a = (float) (a * Math.PI / 180.0); // convert to radians
+        a = (float)(a * Math.PI / 180.0); // convert to radians
-        float s = (float) Math.Sin(a);
+        float s = (float)Math.Sin(a);
-        float c = (float) Math.Cos(a);
+        float c = (float)Math.Cos(a);
         float t = 1.0f - c;
 
         float tx = t * x;
@@ -387,10 +423,10 @@ public class GLU {
         matrix[14] = 0;
         matrix[15] = 1;
         return matrix;
-
     }
 
-    public static float[] mul(float[] left, float[] right) {
+    public static float[] mul(float[] left, float[] right)
+    {
         float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3];
         float m01 = left[1] * right[0] + left[5] * right[1] + left[9] * right[2] + left[13] * right[3];
         float m02 = left[2] * right[0] + left[6] * right[1] + left[10] * right[2] + left[14] * right[3];
@@ -428,5 +464,4 @@ public class GLU {
 
         return dest;
     }
-
 }

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

@@ -4,10 +4,10 @@ namespace DotRecast.Recast.Demo.Draw;
 
 public class LegacyOpenGLDraw : OpenGLDraw
 {
-
     private GL _gl;
 
-    public void fog(bool state) {
+    public void fog(bool state)
+    {
         // if (state) {
         //     _gl.Enable(GL_FOG);
         // } else {
@@ -30,7 +30,8 @@ public class LegacyOpenGLDraw : OpenGLDraw
         // glDepthFunc(GL_LEQUAL);
     }
 
-    public void clear() {
+    public void clear()
+    {
         // glClearColor(0.3f, 0.3f, 0.32f, 1.0f);
         // glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
         // glEnable(GL_BLEND);
@@ -40,17 +41,20 @@ public class LegacyOpenGLDraw : OpenGLDraw
         // glEnable(GL_CULL_FACE);
     }
 
-    public void projectionMatrix(float[] matrix) {
+    public void projectionMatrix(float[] matrix)
+    {
         // glMatrixMode(GL_PROJECTION);
         // glLoadMatrixf(matrix);
     }
 
-    public void viewMatrix(float[] matrix) {
+    public void viewMatrix(float[] matrix)
+    {
         // glMatrixMode(GL_MODELVIEW);
         // glLoadMatrixf(matrix);
     }
 
-    public void begin(DebugDrawPrimitives prim, float size) {
+    public void begin(DebugDrawPrimitives prim, float size)
+    {
         // switch (prim) {
         // case POINTS:
         //     glPointSize(size);
@@ -69,38 +73,45 @@ public class LegacyOpenGLDraw : OpenGLDraw
         // }
     }
 
-    public void vertex(float[] pos, int color) {
+    public void vertex(float[] pos, int color)
+    {
         // glColor4ubv(color);
         // glVertex3fv(pos);
     }
 
-    public void vertex(float x, float y, float z, int color) {
+    public void vertex(float x, float y, float z, int color)
+    {
         // glColor4ubv(color);
         // glVertex3f(x, y, z);
     }
 
-    public void vertex(float[] pos, int color, float[] uv) {
+    public void vertex(float[] pos, int color, float[] uv)
+    {
         // glColor4ubv(color);
         // glTexCoord2fv(uv);
         // glVertex3fv(pos);
     }
 
-    public void vertex(float x, float y, float z, int color, float u, float v) {
+    public void vertex(float x, float y, float z, int color, float u, float v)
+    {
         // glColor4ubv(color);
         // glTexCoord2f(u, v);
         // glVertex3f(x, y, z);
     }
 
-    private void glColor4ubv(int color) {
+    private void glColor4ubv(int color)
+    {
         // glColor4ub((byte) (color & 0xFF), (byte) ((color >> 8) & 0xFF), (byte) ((color >> 16) & 0xFF),
         //         (byte) ((color >> 24) & 0xFF));
     }
 
-    public void depthMask(bool state) {
+    public void depthMask(bool state)
+    {
         // glDepthMask(state);
     }
 
-    public void texture(GLCheckerTexture g_tex, bool state) {
+    public void texture(GLCheckerTexture g_tex, bool state)
+    {
         // if (state) {
         //     glEnable(GL_TEXTURE_2D);
         //     g_tex.bind();
@@ -109,15 +120,16 @@ public class LegacyOpenGLDraw : OpenGLDraw
         // }
     }
 
-    public void end() {
+    public void end()
+    {
         // glEnd();
         // glLineWidth(1.0f);
         // glPointSize(1.0f);
     }
 
-    public void fog(float start, float end) {
+    public void fog(float start, float end)
+    {
         // glFogf(GL_FOG_START, start);
         // glFogf(GL_FOG_END, end);
     }
-
 }

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

@@ -7,7 +7,8 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public class ModernOpenGLDraw : OpenGLDraw {
+public class ModernOpenGLDraw : OpenGLDraw
+{
     private GL _gl;
     private uint program;
     private int uniformTexture;
@@ -33,34 +34,34 @@ public class ModernOpenGLDraw : OpenGLDraw {
     {
         _gl = gl;
         string NK_SHADER_VERSION = PlatformID.MacOSX == Environment.OSVersion.Platform ? "#version 150\n" : "#version 300 es\n";
-        string vertex_shader = NK_SHADER_VERSION + "uniform mat4 ProjMtx;\n"//
+        string vertex_shader = NK_SHADER_VERSION + "uniform mat4 ProjMtx;\n" //
-                + "uniform mat4 ViewMtx;\n"//
+                                                 + "uniform mat4 ViewMtx;\n" //
-                + "in vec3 Position;\n"//
+                                                 + "in vec3 Position;\n" //
-                + "in vec2 TexCoord;\n"//
+                                                 + "in vec2 TexCoord;\n" //
-                + "in vec4 Color;\n"//
+                                                 + "in vec4 Color;\n" //
-                + "out vec2 Frag_UV;\n"//
+                                                 + "out vec2 Frag_UV;\n" //
-                + "out vec4 Frag_Color;\n"//
+                                                 + "out vec4 Frag_Color;\n" //
-                + "out float Frag_Depth;\n"//
+                                                 + "out float Frag_Depth;\n" //
-                + "void main() {\n"//
+                                                 + "void main() {\n" //
-                + "   Frag_UV = TexCoord;\n"//
+                                                 + "   Frag_UV = TexCoord;\n" //
-                + "   Frag_Color = Color;\n"//
+                                                 + "   Frag_Color = Color;\n" //
-                + "   vec4 VSPosition = ViewMtx * vec4(Position, 1);\n"//
+                                                 + "   vec4 VSPosition = ViewMtx * vec4(Position, 1);\n" //
-                + "   Frag_Depth = -VSPosition.z;\n"//
+                                                 + "   Frag_Depth = -VSPosition.z;\n" //
-                + "   gl_Position = ProjMtx * VSPosition;\n"//
+                                                 + "   gl_Position = ProjMtx * VSPosition;\n" //
                                                  + "}\n";
-        string fragment_shader = NK_SHADER_VERSION + "precision mediump float;\n"//
+        string fragment_shader = NK_SHADER_VERSION + "precision mediump float;\n" //
-                + "uniform sampler2D Texture;\n"//
+                                                   + "uniform sampler2D Texture;\n" //
-                + "uniform float UseTexture;\n"//
+                                                   + "uniform float UseTexture;\n" //
-                + "uniform float EnableFog;\n"//
+                                                   + "uniform float EnableFog;\n" //
-                + "uniform float FogStart;\n"//
+                                                   + "uniform float FogStart;\n" //
-                + "uniform float FogEnd;\n"//
+                                                   + "uniform float FogEnd;\n" //
-                + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n"//
+                                                   + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n" //
-                + "in vec2 Frag_UV;\n"//
+                                                   + "in vec2 Frag_UV;\n" //
-                + "in vec4 Frag_Color;\n"//
+                                                   + "in vec4 Frag_Color;\n" //
-                + "in float Frag_Depth;\n"//
+                                                   + "in float Frag_Depth;\n" //
-                + "out vec4 Out_Color;\n"//
+                                                   + "out vec4 Out_Color;\n" //
-                + "void main(){\n"//
+                                                   + "void main(){\n" //
-                + "   Out_Color = mix(FogColor, Frag_Color * mix(vec4(1), texture(Texture, Frag_UV.st), UseTexture), 1.0 - EnableFog * clamp( (Frag_Depth - FogStart) / (FogEnd - FogStart), 0.0, 1.0) );\n"//
+                                                   + "   Out_Color = mix(FogColor, Frag_Color * mix(vec4(1), texture(Texture, Frag_UV.st), UseTexture), 1.0 - EnableFog * clamp( (Frag_Depth - FogStart) / (FogEnd - FogStart), 0.0, 1.0) );\n" //
                                                    + "}\n";
 
         program = _gl.CreateProgram();
@@ -71,20 +72,26 @@ public class ModernOpenGLDraw : OpenGLDraw {
         _gl.CompileShader(vert_shdr);
         _gl.CompileShader(frag_shdr);
         gl.GetShader(vert_shdr, GLEnum.CompileStatus, out var status);
-        if (status != (int) GLEnum.True) {
+        if (status != (int)GLEnum.True)
+        {
             throw new InvalidOperationException();
         }
+
         gl.GetShader(frag_shdr, GLEnum.CompileStatus, out status);
-        if (status != (int) GLEnum.True) {
+        if (status != (int)GLEnum.True)
+        {
             throw new InvalidOperationException();
         }
+
         _gl.AttachShader(program, vert_shdr);
         _gl.AttachShader(program, frag_shdr);
         _gl.LinkProgram(program);
         _gl.GetProgram(program, GLEnum.LinkStatus, out status);
-        if (status != (int) GLEnum.True) {
+        if (status != (int)GLEnum.True)
+        {
             throw new InvalidOperationException();
         }
+
         uniformTexture = _gl.GetUniformLocation(program, "Texture");
         uniformUseTexture = _gl.GetUniformLocation(program, "UseTexture");
         uniformFog = _gl.GetUniformLocation(program, "EnableFog");
@@ -92,9 +99,9 @@ public class ModernOpenGLDraw : OpenGLDraw {
         uniformFogEnd = _gl.GetUniformLocation(program, "FogEnd");
         uniformProjectionMatrix = _gl.GetUniformLocation(program, "ProjMtx");
         uniformViewMatrix = _gl.GetUniformLocation(program, "ViewMtx");
-        uint attrib_pos = (uint) _gl.GetAttribLocation(program, "Position");
+        uint attrib_pos = (uint)_gl.GetAttribLocation(program, "Position");
-        uint attrib_uv = (uint) _gl.GetAttribLocation(program, "TexCoord");
+        uint attrib_uv = (uint)_gl.GetAttribLocation(program, "TexCoord");
-        uint attrib_col = (uint) _gl.GetAttribLocation(program, "Color");
+        uint attrib_col = (uint)_gl.GetAttribLocation(program, "Color");
 
         // buffer setup
         _gl.GenBuffers(1, out vbo);
@@ -123,7 +130,8 @@ public class ModernOpenGLDraw : OpenGLDraw {
         _gl.BindVertexArray(0);
     }
 
-    public void clear() {
+    public void clear()
+    {
         _gl.ClearColor(0.3f, 0.3f, 0.32f, 1.0f);
         _gl.Clear((uint)GLEnum.ColorBufferBit | (uint)GLEnum.DepthBufferBit);
         _gl.Enable(GLEnum.Blend);
@@ -133,14 +141,16 @@ public class ModernOpenGLDraw : OpenGLDraw {
         _gl.Enable(GLEnum.CullFace);
     }
 
-    public void begin(DebugDrawPrimitives prim, float size) {
+    public void begin(DebugDrawPrimitives prim, float size)
+    {
         currentPrim = prim;
         vertices.Clear();
         _gl.LineWidth(size);
         _gl.PointSize(size);
     }
 
-    public void end() {
+    public void end()
+    {
         // if (vertices.isEmpty()) {
         //     return;
         // }
@@ -217,48 +227,58 @@ public class ModernOpenGLDraw : OpenGLDraw {
         // glPointSize(1.0f);
     }
 
-    public void vertex(float x, float y, float z, int color) {
+    public void vertex(float x, float y, float z, int color)
+    {
         vertices.Add(new OpenGLVertex(x, y, z, color));
     }
 
-    public void vertex(float[] pos, int color) {
+    public void vertex(float[] pos, int color)
+    {
         vertices.Add(new OpenGLVertex(pos, color));
     }
 
-    public void vertex(float[] pos, int color, float[] uv) {
+    public void vertex(float[] pos, int color, float[] uv)
+    {
         vertices.Add(new OpenGLVertex(pos, uv, color));
     }
 
-    public void vertex(float x, float y, float z, int color, float u, float v) {
+    public void vertex(float x, float y, float z, int color, float u, float v)
+    {
         vertices.Add(new OpenGLVertex(x, y, z, u, v, color));
     }
 
-    public void depthMask(bool state) {
+    public void depthMask(bool state)
+    {
         _gl.DepthMask(state);
     }
 
-    public void texture(GLCheckerTexture g_tex, bool state) {
+    public void texture(GLCheckerTexture g_tex, bool state)
+    {
         _texture = state ? g_tex : null;
-        if (_texture != null) {
+        if (_texture != null)
+        {
             _texture.bind();
         }
     }
 
-    public void projectionMatrix(float[] projectionMatrix) {
+    public void projectionMatrix(float[] projectionMatrix)
+    {
         this._projectionMatrix = projectionMatrix;
     }
 
-    public void viewMatrix(float[] viewMatrix) {
+    public void viewMatrix(float[] viewMatrix)
+    {
         this._viewMatrix = viewMatrix;
     }
 
-    public void fog(float start, float end) {
+    public void fog(float start, float end)
+    {
         fogStart = start;
         fogEnd = end;
     }
 
-    public void fog(bool state) {
+    public void fog(bool state)
+    {
         fogEnabled = state;
     }
-
 }

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

@@ -27,25 +27,30 @@ using DotRecast.Recast.Demo.Settings;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public class NavMeshRenderer {
+public class NavMeshRenderer
-
+{
     private readonly RecastDebugDraw debugDraw;
 
     private readonly int navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS
                                             | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
 
-    public NavMeshRenderer(RecastDebugDraw debugDraw) {
+    public NavMeshRenderer(RecastDebugDraw debugDraw)
+    {
         this.debugDraw = debugDraw;
     }
 
-    public RecastDebugDraw getDebugDraw() {
+    public RecastDebugDraw getDebugDraw()
+    {
         return debugDraw;
     }
 
-    public void render(Sample sample) {
+    public void render(Sample sample)
-        if (sample == null) {
+    {
+        if (sample == null)
+        {
             return;
         }
+
         NavMeshQuery navQuery = sample.getNavMeshQuery();
         DemoInputGeomProvider geom = sample.getInputGeom();
         IList<RecastBuilderResult> rcBuilderResults = sample.getRecastResults();
@@ -58,9 +63,11 @@ public class NavMeshRenderer {
         float texScale = 1.0f / (rcSettingsView.getCellSize() * 10.0f);
         float m_agentMaxSlope = rcSettingsView.getAgentMaxSlope();
 
-        if (drawMode != DrawMode.DRAWMODE_NAVMESH_TRANS) {
+        if (drawMode != DrawMode.DRAWMODE_NAVMESH_TRANS)
+        {
             // Draw mesh
-            if (geom != null) {
+            if (geom != null)
+            {
                 debugDraw.debugDrawTriMeshSlope(geom.vertices, geom.faces, geom.normals, m_agentMaxSlope, texScale);
                 drawOffMeshConnections(geom, false);
             }
@@ -68,7 +75,8 @@ public class NavMeshRenderer {
 
         debugDraw.fog(false);
         debugDraw.depthMask(false);
-        if (geom != null) {
+        if (geom != null)
+        {
             drawGeomBounds(geom);
         }
 
@@ -76,17 +84,25 @@ public class NavMeshRenderer {
                             && (drawMode == DrawMode.DRAWMODE_NAVMESH || drawMode == DrawMode.DRAWMODE_NAVMESH_TRANS
                                                                       || drawMode == DrawMode.DRAWMODE_NAVMESH_BVTREE || drawMode == DrawMode.DRAWMODE_NAVMESH_NODES
                                                                       || drawMode == DrawMode.DRAWMODE_NAVMESH_INVIS
-                        || drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS)) {
+                                                                      || drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS))
-            if (drawMode != DrawMode.DRAWMODE_NAVMESH_INVIS) {
+        {
+            if (drawMode != DrawMode.DRAWMODE_NAVMESH_INVIS)
+            {
                 debugDraw.debugDrawNavMeshWithClosedList(navMesh, navQuery, navMeshDrawFlags);
             }
-            if (drawMode == DrawMode.DRAWMODE_NAVMESH_BVTREE) {
+
+            if (drawMode == DrawMode.DRAWMODE_NAVMESH_BVTREE)
+            {
                 debugDraw.debugDrawNavMeshBVTree(navMesh);
             }
-            if (drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS) {
+
+            if (drawMode == DrawMode.DRAWMODE_NAVMESH_PORTALS)
+            {
                 debugDraw.debugDrawNavMeshPortals(navMesh);
             }
-            if (drawMode == DrawMode.DRAWMODE_NAVMESH_NODES) {
+
+            if (drawMode == DrawMode.DRAWMODE_NAVMESH_NODES)
+            {
                 debugDraw.debugDrawNavMeshNodes(navQuery);
                 debugDraw.debugDrawNavMeshPolysWithFlags(navMesh, SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
                     DebugDraw.duRGBA(0, 0, 0, 128));
@@ -95,68 +111,94 @@ public class NavMeshRenderer {
 
         debugDraw.depthMask(true);
 
-        foreach (RecastBuilderResult rcBuilderResult in rcBuilderResults) {
+        foreach (RecastBuilderResult rcBuilderResult in rcBuilderResults)
-            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT) {
+        {
+            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT)
+            {
                 debugDraw.debugDrawCompactHeightfieldSolid(rcBuilderResult.getCompactHeightfield());
             }
-            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE) {
+
+            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
+            {
                 debugDraw.debugDrawCompactHeightfieldDistance(rcBuilderResult.getCompactHeightfield());
             }
-            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS) {
+
+            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
+            {
                 debugDraw.debugDrawCompactHeightfieldRegions(rcBuilderResult.getCompactHeightfield());
             }
-            if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS) {
+
+            if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS)
+            {
                 debugDraw.fog(true);
                 debugDraw.debugDrawHeightfieldSolid(rcBuilderResult.getSolidHeightfield());
                 debugDraw.fog(false);
             }
-            if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE) {
+
+            if (rcBuilderResult.getSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
+            {
                 debugDraw.fog(true);
                 debugDraw.debugDrawHeightfieldWalkable(rcBuilderResult.getSolidHeightfield());
                 debugDraw.fog(false);
             }
-            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS) {
+
+            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
+            {
                 debugDraw.depthMask(false);
                 debugDraw.debugDrawRawContours(rcBuilderResult.getContourSet(), 1f);
                 debugDraw.depthMask(true);
             }
-            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS) {
+
+            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
+            {
                 debugDraw.depthMask(false);
                 debugDraw.debugDrawRawContours(rcBuilderResult.getContourSet(), 0.5f);
                 debugDraw.debugDrawContours(rcBuilderResult.getContourSet());
                 debugDraw.depthMask(true);
             }
-            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS) {
+
+            if (rcBuilderResult.getContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
+            {
                 debugDraw.depthMask(false);
                 debugDraw.debugDrawContours(rcBuilderResult.getContourSet());
                 debugDraw.depthMask(true);
             }
-            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS) {
+
+            if (rcBuilderResult.getCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
+            {
                 debugDraw.debugDrawCompactHeightfieldRegions(rcBuilderResult.getCompactHeightfield());
                 debugDraw.depthMask(false);
-                if (rcBuilderResult.getContourSet() != null) {
+                if (rcBuilderResult.getContourSet() != null)
+                {
                     debugDraw.debugDrawRegionConnections(rcBuilderResult.getContourSet());
                 }
+
                 debugDraw.depthMask(true);
             }
-            if (rcBuilderResult.getMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH) {
+
+            if (rcBuilderResult.getMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
+            {
                 debugDraw.depthMask(false);
                 debugDraw.debugDrawPolyMesh(rcBuilderResult.getMesh());
                 debugDraw.depthMask(true);
             }
-            if (rcBuilderResult.getMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL) {
+
+            if (rcBuilderResult.getMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
+            {
                 debugDraw.depthMask(false);
                 debugDraw.debugDrawPolyMeshDetail(rcBuilderResult.getMeshDetail());
                 debugDraw.depthMask(true);
             }
         }
 
-        if (geom != null) {
+        if (geom != null)
+        {
             drawConvexVolumes(geom);
         }
     }
 
-    private void drawGeomBounds(DemoInputGeomProvider geom) {
+    private void drawGeomBounds(DemoInputGeomProvider geom)
+    {
         // Draw bounds
         float[] bmin = geom.getMeshBoundsMin();
         float[] bmax = geom.getMeshBoundsMax();
@@ -167,14 +209,15 @@ public class NavMeshRenderer {
         debugDraw.end();
     }
 
-    public void drawOffMeshConnections(DemoInputGeomProvider geom, bool hilight) {
+    public void drawOffMeshConnections(DemoInputGeomProvider geom, bool hilight)
+    {
         int conColor = DebugDraw.duRGBA(192, 0, 128, 192);
         int baseColor = DebugDraw.duRGBA(0, 0, 0, 64);
         debugDraw.depthMask(false);
 
         debugDraw.begin(DebugDrawPrimitives.LINES, 2.0f);
-        foreach (DemoOffMeshConnection con in geom.getOffMeshConnections()) {
+        foreach (DemoOffMeshConnection con in geom.getOffMeshConnections())
-
+        {
             float[] v = con.verts;
             debugDraw.vertex(v[0], v[1], v[2], baseColor);
             debugDraw.vertex(v[0], v[1] + 0.2f, v[2], baseColor);
@@ -185,23 +228,28 @@ public class NavMeshRenderer {
             debugDraw.appendCircle(v[0], v[1] + 0.1f, v[2], con.radius, baseColor);
             debugDraw.appendCircle(v[3], v[4] + 0.1f, v[5], con.radius, baseColor);
 
-            if (hilight) {
+            if (hilight)
+            {
                 debugDraw.appendArc(v[0], v[1], v[2], v[3], v[4], v[5], 0.25f, con.bidir ? 0.6f : 0.0f, 0.6f, conColor);
             }
         }
+
         debugDraw.end();
 
         debugDraw.depthMask(true);
     }
 
-    void drawConvexVolumes(DemoInputGeomProvider geom) {
+    void drawConvexVolumes(DemoInputGeomProvider geom)
+    {
         debugDraw.depthMask(false);
 
         debugDraw.begin(DebugDrawPrimitives.TRIS);
 
-        foreach (ConvexVolume vol in geom.convexVolumes()) {
+        foreach (ConvexVolume vol in geom.convexVolumes())
+        {
             int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 32);
-            for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) {
+            for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
+            {
                 float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] };
                 float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] };
 
@@ -222,9 +270,11 @@ public class NavMeshRenderer {
         debugDraw.end();
 
         debugDraw.begin(DebugDrawPrimitives.LINES, 2.0f);
-        foreach (ConvexVolume vol in geom.convexVolumes()) {
+        foreach (ConvexVolume vol in geom.convexVolumes())
+        {
             int col = DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220);
-            for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3) {
+            for (int j = 0, k = vol.verts.Length - 3; j < vol.verts.Length; k = j, j += 3)
+            {
                 float[] va = new float[] { vol.verts[k], vol.verts[k + 1], vol.verts[k + 2] };
                 float[] vb = new float[] { vol.verts[j], vol.verts[j + 1], vol.verts[j + 2] };
                 debugDraw.vertex(va[0], vol.hmin, va[2], DebugDraw.duDarkenCol(col));
@@ -235,21 +285,24 @@ public class NavMeshRenderer {
                 debugDraw.vertex(va[0], vol.hmax, va[2], col);
             }
         }
+
         debugDraw.end();
 
         debugDraw.begin(DebugDrawPrimitives.POINTS, 3.0f);
-        foreach (ConvexVolume vol in geom.convexVolumes()) {
+        foreach (ConvexVolume vol in geom.convexVolumes())
+        {
             int col = DebugDraw
                 .duDarkenCol(DebugDraw.duTransCol(DebugDraw.areaToCol(vol.areaMod.getMaskedValue()), 220));
-            for (int j = 0; j < vol.verts.Length; j += 3) {
+            for (int j = 0; j < vol.verts.Length; j += 3)
+            {
                 debugDraw.vertex(vol.verts[j + 0], vol.verts[j + 1] + 0.1f, vol.verts[j + 2], col);
                 debugDraw.vertex(vol.verts[j + 0], vol.hmin, vol.verts[j + 2], col);
                 debugDraw.vertex(vol.verts[j + 0], vol.hmax, vol.verts[j + 2], col);
             }
         }
+
         debugDraw.end();
 
         debugDraw.depthMask(true);
     }
-
 }

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

@@ -2,8 +2,8 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public interface OpenGLDraw {
+public interface OpenGLDraw
-
+{
     void init(GL gl);
 
     void clear();
@@ -31,5 +31,4 @@ public interface OpenGLDraw {
     void viewMatrix(float[] viewMatrix);
 
     void fog(float start, float end);
-
 }

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

@@ -2,8 +2,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-public class OpenGLVertex {
+public class OpenGLVertex
-
+{
     private readonly float x;
     private readonly float y;
     private readonly float z;
@@ -12,18 +12,22 @@ public class OpenGLVertex {
     private readonly float v;
 
     public OpenGLVertex(float[] pos, float[] uv, int color) :
-        this(pos[0], pos[1], pos[2], uv[0], uv[1], color) {
+        this(pos[0], pos[1], pos[2], uv[0], uv[1], color)
+    {
     }
 
     public OpenGLVertex(float[] pos, int color) :
-        this(pos[0], pos[1], pos[2], 0f, 0f, color) {
+        this(pos[0], pos[1], pos[2], 0f, 0f, color)
+    {
     }
 
     public OpenGLVertex(float x, float y, float z, int color) :
-        this(x, y, z, 0f, 0f, color) {
+        this(x, y, z, 0f, 0f, color)
+    {
     }
 
-    public OpenGLVertex(float x, float y, float z, float u, float v, int color) {
+    public OpenGLVertex(float x, float y, float z, float u, float v, int color)
+    {
         this.x = x;
         this.y = y;
         this.z = z;
@@ -32,7 +36,8 @@ public class OpenGLVertex {
         this.color = color;
     }
 
-    public void store(ByteBuffer buffer) {
+    public void store(ByteBuffer buffer)
+    {
         buffer.putFloat(x);
         buffer.putFloat(y);
         buffer.putFloat(z);

src/DotRecast.Recast.Demo/Geom/ChunkyTriMesh.cs

@@ -24,22 +24,27 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast.Demo.Geom;
 
-public class ChunkyTriMesh {
+public class ChunkyTriMesh
-
+{
-    private class BoundsItem {
+    private class BoundsItem
+    {
         public readonly float[] bmin = new float[2];
         public readonly float[] bmax = new float[2];
         public int i;
     }
 
-    private class CompareItemX : IComparer<BoundsItem> {
+    private class CompareItemX : IComparer<BoundsItem>
-        public int Compare(BoundsItem a, BoundsItem b) {
+    {
+        public int Compare(BoundsItem a, BoundsItem b)
+        {
             return a.bmin[0].CompareTo(b.bmin[0]);
         }
     }
 
-    private class CompareItemY : IComparer<BoundsItem> {
+    private class CompareItemY : IComparer<BoundsItem>
-        public int Compare(BoundsItem a, BoundsItem b) {
+    {
+        public int Compare(BoundsItem a, BoundsItem b)
+        {
             return a.bmin[1].CompareTo(b.bmin[1]);
         }
     }
@@ -48,43 +53,54 @@ public class ChunkyTriMesh {
     int ntris;
     int maxTrisPerChunk;
 
-    private void calcExtends(BoundsItem[] items, int imin, int imax, float[] bmin, float[] bmax) {
+    private void calcExtends(BoundsItem[] items, int imin, int imax, float[] bmin, float[] bmax)
+    {
         bmin[0] = items[imin].bmin[0];
         bmin[1] = items[imin].bmin[1];
 
         bmax[0] = items[imin].bmax[0];
         bmax[1] = items[imin].bmax[1];
 
-        for (int i = imin + 1; i < imax; ++i) {
+        for (int i = imin + 1; i < imax; ++i)
+        {
             BoundsItem it = items[i];
-            if (it.bmin[0] < bmin[0]) {
+            if (it.bmin[0] < bmin[0])
+            {
                 bmin[0] = it.bmin[0];
             }
-            if (it.bmin[1] < bmin[1]) {
+
+            if (it.bmin[1] < bmin[1])
+            {
                 bmin[1] = it.bmin[1];
             }
 
-            if (it.bmax[0] > bmax[0]) {
+            if (it.bmax[0] > bmax[0])
+            {
                 bmax[0] = it.bmax[0];
             }
-            if (it.bmax[1] > bmax[1]) {
+
+            if (it.bmax[1] > bmax[1])
+            {
                 bmax[1] = it.bmax[1];
             }
         }
     }
 
-    private int longestAxis(float x, float y) {
+    private int longestAxis(float x, float y)
+    {
         return y > x ? 1 : 0;
     }
 
     private void subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<ChunkyTriMeshNode> nodes,
-            int[] inTris) {
+        int[] inTris)
+    {
         int inum = imax - imin;
 
         ChunkyTriMeshNode node = new ChunkyTriMeshNode();
         nodes.Add(node);
 
-        if (inum <= trisPerChunk) {
+        if (inum <= trisPerChunk)
+        {
             // Leaf
             calcExtends(items, imin, imax, node.bmin, node.bmax);
 
@@ -93,22 +109,28 @@ public class ChunkyTriMesh {
             node.tris = new int[inum * 3];
 
             int dst = 0;
-            for (int i = imin; i < imax; ++i) {
+            for (int i = imin; i < imax; ++i)
+            {
                 int src = items[i].i * 3;
                 node.tris[dst++] = inTris[src];
                 node.tris[dst++] = inTris[src + 1];
                 node.tris[dst++] = inTris[src + 2];
             }
-        } else {
+        }
+        else
+        {
             // Split
             calcExtends(items, imin, imax, node.bmin, node.bmax);
 
             int axis = longestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1]);
 
-            if (axis == 0) {
+            if (axis == 0)
+            {
                 Array.Sort(items, imin, imax - imax, new CompareItemX());
                 // Sort along x-axis
-            } else if (axis == 1) {
+            }
+            else if (axis == 1)
+            {
                 Array.Sort(items, imin, imax - imin, new CompareItemY());
                 // Sort along y-axis
             }
@@ -125,7 +147,8 @@ public class ChunkyTriMesh {
         }
     }
 
-    public ChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk) {
+    public ChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
+    {
         int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
 
         nodes = new(nchunks);
@@ -134,26 +157,34 @@ public class ChunkyTriMesh {
         // Build tree
         BoundsItem[] items = new BoundsItem[ntris];
 
-        for (int i = 0; i < ntris; i++) {
+        for (int i = 0; i < ntris; i++)
+        {
             int t = i * 3;
             BoundsItem it = items[i] = new BoundsItem();
             it.i = i;
             // Calc triangle XZ bounds.
             it.bmin[0] = it.bmax[0] = verts[tris[t] * 3 + 0];
             it.bmin[1] = it.bmax[1] = verts[tris[t] * 3 + 2];
-            for (int j = 1; j < 3; ++j) {
+            for (int j = 1; j < 3; ++j)
+            {
                 int v = tris[t + j] * 3;
-                if (verts[v] < it.bmin[0]) {
+                if (verts[v] < it.bmin[0])
+                {
                     it.bmin[0] = verts[v];
                 }
-                if (verts[v + 2] < it.bmin[1]) {
+
+                if (verts[v + 2] < it.bmin[1])
+                {
                     it.bmin[1] = verts[v + 2];
                 }
 
-                if (verts[v] > it.bmax[0]) {
+                if (verts[v] > it.bmax[0])
+                {
                     it.bmax[0] = verts[v];
                 }
-                if (verts[v + 2] > it.bmax[1]) {
+
+                if (verts[v + 2] > it.bmax[1])
+                {
                     it.bmax[1] = verts[v + 2];
                 }
             }
@@ -163,70 +194,89 @@ public class ChunkyTriMesh {
 
         // Calc max tris per node.
         maxTrisPerChunk = 0;
-        foreach (ChunkyTriMeshNode node in nodes) {
+        foreach (ChunkyTriMeshNode node in nodes)
+        {
             bool isLeaf = node.i >= 0;
-            if (!isLeaf) {
+            if (!isLeaf)
+            {
                 continue;
             }
-            if (node.tris.Length / 3 > maxTrisPerChunk) {
+
+            if (node.tris.Length / 3 > maxTrisPerChunk)
+            {
                 maxTrisPerChunk = node.tris.Length / 3;
             }
         }
-
     }
 
-    public List<ChunkyTriMeshNode> getChunksOverlappingRect(float[] bmin, float[] bmax) {
+    public List<ChunkyTriMeshNode> getChunksOverlappingRect(float[] bmin, float[] bmax)
+    {
         // Traverse tree
         List<ChunkyTriMeshNode> ids = new();
         int i = 0;
-        while (i < nodes.Count) {
+        while (i < nodes.Count)
+        {
             ChunkyTriMeshNode node = nodes[i];
             bool overlap = checkOverlapRect(bmin, bmax, node.bmin, node.bmax);
             bool isLeafNode = node.i >= 0;
 
-            if (isLeafNode && overlap) {
+            if (isLeafNode && overlap)
+            {
                 ids.Add(node);
             }
 
-            if (overlap || isLeafNode) {
+            if (overlap || isLeafNode)
+            {
                 i++;
-            } else {
+            }
+            else
+            {
                 i = -node.i;
             }
         }
+
         return ids;
     }
 
-    private bool checkOverlapRect(float[] amin, float[] amax, float[] bmin, float[] bmax) {
+    private bool checkOverlapRect(float[] amin, float[] amax, float[] bmin, float[] bmax)
+    {
         bool overlap = true;
         overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
         overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
         return overlap;
     }
 
-    public List<ChunkyTriMeshNode> getChunksOverlappingSegment(float[] p, float[] q) {
+    public List<ChunkyTriMeshNode> getChunksOverlappingSegment(float[] p, float[] q)
+    {
         // Traverse tree
         List<ChunkyTriMeshNode> ids = new();
         int i = 0;
-        while (i < nodes.Count) {
+        while (i < nodes.Count)
+        {
             ChunkyTriMeshNode node = nodes[i];
             bool overlap = checkOverlapSegment(p, q, node.bmin, node.bmax);
             bool isLeafNode = node.i >= 0;
 
-            if (isLeafNode && overlap) {
+            if (isLeafNode && overlap)
+            {
                 ids.Add(node);
             }
 
-            if (overlap || isLeafNode) {
+            if (overlap || isLeafNode)
+            {
                 i++;
-            } else {
+            }
+            else
+            {
                 i = -node.i;
             }
         }
+
         return ids;
     }
 
-    private bool checkOverlapSegment(float[] p, float[] q, float[] bmin, float[] bmax) {
+    private bool checkOverlapSegment(float[] p, float[] q, float[] bmin, float[] bmax)
+    {
         float EPSILON = 1e-6f;
 
         float tmin = 0;
@@ -235,21 +285,27 @@ public class ChunkyTriMesh {
         d[0] = q[0] - p[0];
         d[1] = q[1] - p[1];
 
-        for (int i = 0; i < 2; i++) {
+        for (int i = 0; i < 2; i++)
-            if (Math.Abs(d[i]) < EPSILON) {
+        {
+            if (Math.Abs(d[i]) < EPSILON)
+            {
                 // Ray is parallel to slab. No hit if origin not within slab
                 if (p[i] < bmin[i] || p[i] > bmax[i])
                     return false;
-            } else {
+            }
+            else
+            {
                 // Compute intersection t value of ray with near and far plane of slab
                 float ood = 1.0f / d[i];
                 float t1 = (bmin[i] - p[i]) * ood;
                 float t2 = (bmax[i] - p[i]) * ood;
-                if (t1 > t2) {
+                if (t1 > t2)
+                {
                     float tmp = t1;
                     t1 = t2;
                     t2 = tmp;
                 }
+
                 if (t1 > tmin)
                     tmin = t1;
                 if (t2 < tmax)
@@ -258,7 +314,7 @@ public class ChunkyTriMesh {
                     return false;
             }
         }
+
         return true;
     }
-
 }

src/DotRecast.Recast.Demo/Geom/DemoInputGeomProvider.cs

@@ -26,8 +26,8 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast.Demo.Geom;
 
-public class DemoInputGeomProvider : InputGeomProvider {
+public class DemoInputGeomProvider : InputGeomProvider
-
+{
     public readonly float[] vertices;
     public readonly int[] faces;
     public readonly float[] normals;
@@ -38,26 +38,34 @@ public class DemoInputGeomProvider : InputGeomProvider {
     private readonly ChunkyTriMesh chunkyTriMesh;
 
     public DemoInputGeomProvider(List<float> vertexPositions, List<int> meshFaces) :
-        this(mapVertices(vertexPositions), mapFaces(meshFaces)) {
+        this(mapVertices(vertexPositions), mapFaces(meshFaces))
+    {
     }
 
-    private static int[] mapFaces(List<int> meshFaces) {
+    private static int[] mapFaces(List<int> meshFaces)
+    {
         int[] faces = new int[meshFaces.Count];
-        for (int i = 0; i < faces.Length; i++) {
+        for (int i = 0; i < faces.Length; i++)
+        {
             faces[i] = meshFaces[i];
         }
+
         return faces;
     }
 
-    private static float[] mapVertices(List<float> vertexPositions) {
+    private static float[] mapVertices(List<float> vertexPositions)
+    {
         float[] vertices = new float[vertexPositions.Count];
-        for (int i = 0; i < vertices.Length; i++) {
+        for (int i = 0; i < vertices.Length; i++)
+        {
             vertices[i] = vertexPositions[i];
         }
+
         return vertices;
     }
 
-    public DemoInputGeomProvider(float[] vertices, int[] faces) {
+    public DemoInputGeomProvider(float[] vertices, int[] faces)
+    {
         this.vertices = vertices;
         this.faces = faces;
         normals = new float[faces.Length];
@@ -66,36 +74,45 @@ public class DemoInputGeomProvider : InputGeomProvider {
         bmax = new float[3];
         RecastVectors.copy(bmin, vertices, 0);
         RecastVectors.copy(bmax, vertices, 0);
-        for (int i = 1; i < vertices.Length / 3; i++) {
+        for (int i = 1; i < vertices.Length / 3; i++)
+        {
             RecastVectors.min(bmin, vertices, i * 3);
             RecastVectors.max(bmax, vertices, i * 3);
         }
+
         chunkyTriMesh = new ChunkyTriMesh(vertices, faces, faces.Length / 3, 256);
     }
 
-    public float[] getMeshBoundsMin() {
+    public float[] getMeshBoundsMin()
+    {
         return bmin;
     }
 
-    public float[] getMeshBoundsMax() {
+    public float[] getMeshBoundsMax()
+    {
         return bmax;
     }
 
-    public void calculateNormals() {
+    public void calculateNormals()
-        for (int i = 0; i < faces.Length; i += 3) {
+    {
+        for (int i = 0; i < faces.Length; i += 3)
+        {
             int v0 = faces[i] * 3;
             int v1 = faces[i + 1] * 3;
             int v2 = faces[i + 2] * 3;
             float[] e0 = new float[3], e1 = new float[3];
-            for (int j = 0; j < 3; ++j) {
+            for (int j = 0; j < 3; ++j)
+            {
                 e0[j] = vertices[v1 + j] - vertices[v0 + j];
                 e1[j] = vertices[v2 + j] - vertices[v0 + j];
             }
+
             normals[i] = e0[1] * e1[2] - e0[2] * e1[1];
             normals[i + 1] = e0[2] * e1[0] - e0[0] * e1[2];
             normals[i + 2] = e0[0] * e1[1] - e0[1] * e1[0];
-            float d = (float) Math.Sqrt(normals[i] * normals[i] + normals[i + 1] * normals[i + 1] + normals[i + 2] * normals[i + 2]);
+            float d = (float)Math.Sqrt(normals[i] * normals[i] + normals[i + 1] * normals[i + 1] + normals[i + 2] * normals[i + 2]);
-            if (d > 0) {
+            if (d > 0)
+            {
                 d = 1.0f / d;
                 normals[i] *= d;
                 normals[i + 1] *= d;
@@ -104,34 +121,41 @@ public class DemoInputGeomProvider : InputGeomProvider {
         }
     }
 
-    public IList<ConvexVolume> convexVolumes() {
+    public IList<ConvexVolume> convexVolumes()
+    {
         return _convexVolumes;
     }
 
-    public IEnumerable<TriMesh> meshes() {
+    public IEnumerable<TriMesh> meshes()
+    {
         return ImmutableArray.Create(new TriMesh(vertices, faces));
     }
 
-    public List<DemoOffMeshConnection> getOffMeshConnections() {
+    public List<DemoOffMeshConnection> getOffMeshConnections()
+    {
         return offMeshConnections;
     }
 
-    public void addOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) {
+    public void addOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags)
+    {
         offMeshConnections.Add(new DemoOffMeshConnection(start, end, radius, bidir, area, flags));
     }
 
-    public void removeOffMeshConnections(Predicate<DemoOffMeshConnection> filter) {
+    public void removeOffMeshConnections(Predicate<DemoOffMeshConnection> filter)
+    {
         //offMeshConnections.retainAll(offMeshConnections.stream().filter(c -> !filter.test(c)).collect(toList()));
         offMeshConnections.RemoveAll(filter); // TODO : 확인 필요
     }
 
-    public float? raycastMesh(float[] src, float[] dst) {
+    public float? raycastMesh(float[] src, float[] dst)
-
+    {
         // Prune hit ray.
         float[] btminmax = Intersections.intersectSegmentAABB(src, dst, bmin, bmax);
-        if (null == btminmax) {
+        if (null == btminmax)
+        {
             return null;
         }
+
         float btmin = btminmax[0];
         float btmax = btminmax[1];
         float[] p = new float[2], q = new float[2];
@@ -141,26 +165,41 @@ public class DemoInputGeomProvider : InputGeomProvider {
         q[1] = src[2] + (dst[2] - src[2]) * btmax;
 
         List<ChunkyTriMeshNode> chunks = chunkyTriMesh.getChunksOverlappingSegment(p, q);
-        if (0 == chunks.Count) {
+        if (0 == chunks.Count)
+        {
             return null;
         }
 
         float tmin = 1.0f;
         bool hit = false;
-        foreach (ChunkyTriMeshNode chunk in chunks) {
+        foreach (ChunkyTriMeshNode chunk in chunks)
+        {
             int[] tris = chunk.tris;
-            for (int j = 0; j < chunk.tris.Length; j += 3) {
+            for (int j = 0; j < chunk.tris.Length; j += 3)
-                float[] v1 = new float[] { vertices[tris[j] * 3], vertices[tris[j] * 3 + 1],
+            {
-                        vertices[tris[j] * 3 + 2] };
+                float[] v1 = new float[]
-                float[] v2 = new float[] { vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3 + 1],
+                {
-                        vertices[tris[j + 1] * 3 + 2] };
+                    vertices[tris[j] * 3], vertices[tris[j] * 3 + 1],
-                float[] v3 = new float[] { vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3 + 1],
+                    vertices[tris[j] * 3 + 2]
-                        vertices[tris[j + 2] * 3 + 2] };
+                };
+                float[] v2 = new float[]
+                {
+                    vertices[tris[j + 1] * 3], vertices[tris[j + 1] * 3 + 1],
+                    vertices[tris[j + 1] * 3 + 2]
+                };
+                float[] v3 = new float[]
+                {
+                    vertices[tris[j + 2] * 3], vertices[tris[j + 2] * 3 + 1],
+                    vertices[tris[j + 2] * 3 + 2]
+                };
                 float? t = Intersections.intersectSegmentTriangle(src, dst, v1, v2, v3);
-                if (null != t) {
+                if (null != t)
-                    if (t.Value < tmin) {
+                {
+                    if (t.Value < tmin)
+                    {
                         tmin = t.Value;
                     }
+
                     hit = true;
                 }
             }
@@ -170,7 +209,8 @@ public class DemoInputGeomProvider : InputGeomProvider {
     }
 
 
-    public void addConvexVolume(float[] verts, float minh, float maxh, AreaModification areaMod) {
+    public void addConvexVolume(float[] verts, float minh, float maxh, AreaModification areaMod)
+    {
         ConvexVolume volume = new ConvexVolume();
         volume.verts = verts;
         volume.hmin = minh;
@@ -179,8 +219,8 @@ public class DemoInputGeomProvider : InputGeomProvider {
         _convexVolumes.Add(volume);
     }
 
-    public void clearConvexVolumes() {
+    public void clearConvexVolumes()
+    {
         _convexVolumes.Clear();
     }
-
 }

src/DotRecast.Recast.Demo/Geom/DemoOffMeshConnection.cs

@@ -17,17 +17,19 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.Geom;
 
-public class DemoOffMeshConnection {
+public class DemoOffMeshConnection
-
+{
     public readonly float[] verts;
     public readonly float radius;
     public readonly bool bidir;
     public readonly int area;
     public readonly int flags;
 
-    public DemoOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags) {
+    public DemoOffMeshConnection(float[] start, float[] end, float radius, bool bidir, int area, int flags)
+    {
         verts = new float[6];
         verts[0] = start[0];
         verts[1] = start[1];
@@ -40,5 +42,4 @@ public class DemoOffMeshConnection {
         this.area = area;
         this.flags = flags;
     }
-
 }

src/DotRecast.Recast.Demo/Geom/Intersections.cs

@@ -22,9 +22,10 @@ using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Recast.Demo.Geom;
 
-public class Intersections {
+public class Intersections
-
+{
-    public static float? intersectSegmentTriangle(float[] sp, float[] sq, float[] a, float[] b, float[] c) {
+    public static float? intersectSegmentTriangle(float[] sp, float[] sq, float[] a, float[] b, float[] c)
+    {
         float v, w;
         float[] ab = vSub(b, a);
         float[] ac = vSub(c, a);
@@ -37,7 +38,8 @@ public class Intersections {
         // Compute denominator d. If d <= 0, segment is parallel to or points
         // away from triangle, so exit early
         float d = DemoMath.vDot(qp, norm);
-        if (d <= 0.0f) {
+        if (d <= 0.0f)
+        {
             return null;
         }
 
@@ -46,21 +48,27 @@ public class Intersections {
         // dividing by d until intersection has been found to pierce triangle
         float[] ap = vSub(sp, a);
         float t = DemoMath.vDot(ap, norm);
-        if (t < 0.0f) {
+        if (t < 0.0f)
+        {
             return null;
         }
-        if (t > d) {
+
+        if (t > d)
+        {
             return null; // For segment; exclude this code line for a ray test
         }
 
         // Compute barycentric coordinate components and test if within bounds
         float[] e = DemoMath.vCross(qp, ap);
         v = DemoMath.vDot(ac, e);
-        if (v < 0.0f || v > d) {
+        if (v < 0.0f || v > d)
+        {
             return null;
         }
+
         w = -DemoMath.vDot(ab, e);
-        if (w < 0.0f || v + w > d) {
+        if (w < 0.0f || v + w > d)
+        {
             return null;
         }
 
@@ -70,8 +78,8 @@ public class Intersections {
         return t;
     }
 
-    public static float[] intersectSegmentAABB(float[] sp, float[] sq, float[] amin, float[] amax) {
+    public static float[] intersectSegmentAABB(float[] sp, float[] sq, float[] amin, float[] amax)
-
+    {
         float EPS = 1e-6f;
 
         float[] d = new float[3];
@@ -81,27 +89,39 @@ public class Intersections {
         float tmin = 0.0f;
         float tmax = 1.0f;
 
-        for (int i = 0; i < 3; i++) {
+        for (int i = 0; i < 3; i++)
-            if (Math.Abs(d[i]) < EPS) {
+        {
-                if (sp[i] < amin[i] || sp[i] > amax[i]) {
+            if (Math.Abs(d[i]) < EPS)
+            {
+                if (sp[i] < amin[i] || sp[i] > amax[i])
+                {
                     return null;
                 }
-            } else {
+            }
+            else
+            {
                 float ood = 1.0f / d[i];
                 float t1 = (amin[i] - sp[i]) * ood;
                 float t2 = (amax[i] - sp[i]) * ood;
-                if (t1 > t2) {
+                if (t1 > t2)
+                {
                     float tmp = t1;
                     t1 = t2;
                     t2 = tmp;
                 }
-                if (t1 > tmin) {
+
+                if (t1 > tmin)
+                {
                     tmin = t1;
                 }
-                if (t2 < tmax) {
+
+                if (t2 < tmax)
+                {
                     tmax = t2;
                 }
-                if (tmin > tmax) {
+
+                if (tmin > tmax)
+                {
                     return null;
                 }
             }
@@ -109,5 +129,4 @@ public class Intersections {
 
         return new float[] { tmin, tmax };
     }
-
 }

src/DotRecast.Recast.Demo/Geom/NavMeshRaycast.cs

@@ -24,14 +24,18 @@ namespace DotRecast.Recast.Demo.Geom;
 /**
  * Simple helper to find an intersection between a ray and a nav mesh
  */
-public class NavMeshRaycast {
+public class NavMeshRaycast
-
+{
-    public static float? raycast(NavMesh mesh, float[] src, float[]dst) {
+    public static float? raycast(NavMesh mesh, float[] src, float[] dst)
-        for (int t = 0; t < mesh.getMaxTiles(); ++t) {
+    {
+        for (int t = 0; t < mesh.getMaxTiles(); ++t)
+        {
             MeshTile tile = mesh.getTile(t);
-            if (tile != null && tile.data != null) {
+            if (tile != null && tile.data != null)
+            {
                 float? intersection = raycast(tile, src, dst);
-                if (null != intersection) {
+                if (null != intersection)
+                {
                     return intersection;
                 }
             }
@@ -40,36 +44,50 @@ public class NavMeshRaycast {
         return null;
     }
 
-    private static float? raycast(MeshTile tile, float[] sp, float[]sq) {
+    private static float? raycast(MeshTile tile, float[] sp, float[] sq)
-        for (int i = 0; i < tile.data.header.polyCount; ++i) {
+    {
+        for (int i = 0; i < tile.data.header.polyCount; ++i)
+        {
             Poly p = tile.data.polys[i];
-            if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION) {
+            if (p.getType() == Poly.DT_POLYTYPE_OFFMESH_CONNECTION)
+            {
                 continue;
             }
+
             PolyDetail pd = tile.data.detailMeshes[i];
 
-            if (pd != null) {
+            if (pd != null)
+            {
                 float[][] verts = ArrayUtils.Of<float>(3, 3);
-                for (int j = 0; j < pd.triCount; ++j) {
+                for (int j = 0; j < pd.triCount; ++j)
+                {
                     int t = (pd.triBase + j) * 4;
-                    for (int k = 0; k < 3; ++k) {
+                    for (int k = 0; k < 3; ++k)
+                    {
                         int v = tile.data.detailTris[t + k];
-                        if (v < p.vertCount) {
+                        if (v < p.vertCount)
+                        {
                             verts[k][0] = tile.data.verts[p.verts[v] * 3];
                             verts[k][1] = tile.data.verts[p.verts[v] * 3 + 1];
                             verts[k][2] = tile.data.verts[p.verts[v] * 3 + 2];
-                        } else {
+                        }
+                        else
+                        {
                             verts[k][0] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3];
                             verts[k][1] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 1];
                             verts[k][2] = tile.data.detailVerts[(pd.vertBase + v - p.vertCount) * 3 + 2];
                         }
                     }
+
                     float? intersection = Intersections.intersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2]);
-                    if (null != intersection) {
+                    if (null != intersection)
+                    {
                         return intersection;
                     }
                 }
-            } else {
+            }
+            else
+            {
                 // FIXME: Use Poly if PolyDetail is unavailable
             }
         }

src/DotRecast.Recast.Demo/Geom/NavMeshUtils.cs

@@ -21,15 +21,19 @@ using DotRecast.Detour;
 
 namespace DotRecast.Recast.Demo.Geom;
 
-public class NavMeshUtils {
+public class NavMeshUtils
-
+{
-    public static float[][] getNavMeshBounds(NavMesh mesh) {
+    public static float[][] getNavMeshBounds(NavMesh mesh)
+    {
         float[] bmin = new float[] { float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity };
         float[] bmax = new float[] { float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity };
-        for (int t = 0; t < mesh.getMaxTiles(); ++t) {
+        for (int t = 0; t < mesh.getMaxTiles(); ++t)
+        {
             MeshTile tile = mesh.getTile(t);
-            if (tile != null && tile.data != null) {
+            if (tile != null && tile.data != null)
-                for (int i = 0; i < tile.data.verts.Length; i += 3) {
+            {
+                for (int i = 0; i < tile.data.verts.Length; i += 3)
+                {
                     bmin[0] = Math.Min(bmin[0], tile.data.verts[i]);
                     bmin[1] = Math.Min(bmin[1], tile.data.verts[i + 1]);
                     bmin[2] = Math.Min(bmin[2], tile.data.verts[i + 2]);
@@ -39,6 +43,7 @@ public class NavMeshUtils {
                 }
             }
         }
+
         return new float[][] { bmin, bmax };
     }
 }

src/DotRecast.Recast.Demo/Geom/PolyMeshRaycast.cs

@@ -21,13 +21,17 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Geom;
 
-public class PolyMeshRaycast {
+public class PolyMeshRaycast
-
+{
-    public static float? raycast(IList<RecastBuilderResult> results, float[] src, float[] dst) {
+    public static float? raycast(IList<RecastBuilderResult> results, float[] src, float[] dst)
-        foreach (RecastBuilderResult result in results) {
+    {
-            if (result.getMeshDetail() != null) {
+        foreach (RecastBuilderResult result in results)
+        {
+            if (result.getMeshDetail() != null)
+            {
                 float? intersection = raycast(result.getMesh(), result.getMeshDetail(), src, dst);
-                if (null != intersection) {
+                if (null != intersection)
+                {
                     return intersection;
                 }
             }
@@ -36,29 +40,38 @@ public class PolyMeshRaycast {
         return null;
     }
 
-    private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, float[] sp, float[] sq) {
+    private static float? raycast(PolyMesh poly, PolyMeshDetail meshDetail, float[] sp, float[] sq)
-        if (meshDetail != null) {
+    {
-            for (int i = 0; i < meshDetail.nmeshes; ++i) {
+        if (meshDetail != null)
+        {
+            for (int i = 0; i < meshDetail.nmeshes; ++i)
+            {
                 int m = i * 4;
                 int bverts = meshDetail.meshes[m];
                 int btris = meshDetail.meshes[m + 2];
                 int ntris = meshDetail.meshes[m + 3];
                 int verts = bverts * 3;
                 int tris = btris * 4;
-                for (int j = 0; j < ntris; ++j) {
+                for (int j = 0; j < ntris; ++j)
+                {
                     float[][] vs = ArrayUtils.Of<float>(3, 3);
-                    for (int k = 0; k < 3; ++k) {
+                    for (int k = 0; k < 3; ++k)
+                    {
                         vs[k][0] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];
                         vs[k][1] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 1];
                         vs[k][2] = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
                     }
+
                     float? intersection = Intersections.intersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2]);
-                    if (null != intersection) {
+                    if (null != intersection)
+                    {
                         return intersection;
                     }
                 }
             }
-        } else {
+        }
+        else
+        {
             // TODO: check PolyMesh instead
         }
 

src/DotRecast.Recast.Demo/Sample.cs

@@ -26,8 +26,8 @@ using DotRecast.Recast.Demo.Settings;
 
 namespace DotRecast.Recast.Demo;
 
-public class Sample {
+public class Sample
-
+{
     private DemoInputGeomProvider inputGeom;
     private NavMesh navMesh;
     private NavMeshQuery navMeshQuery;
@@ -36,7 +36,8 @@ public class Sample {
     private bool changed;
 
     public Sample(DemoInputGeomProvider inputGeom, IList<RecastBuilderResult> recastResults, NavMesh navMesh,
-            RcSettingsView rcSettingsView, RecastDebugDraw debugDraw) {
+        RcSettingsView rcSettingsView, RecastDebugDraw debugDraw)
+    {
         this.inputGeom = inputGeom;
         this.recastResults = recastResults;
         this.navMesh = navMesh;
@@ -45,39 +46,48 @@ public class Sample {
         changed = true;
     }
 
-    private void setQuery(NavMesh navMesh) {
+    private void setQuery(NavMesh navMesh)
+    {
         navMeshQuery = navMesh != null ? new NavMeshQuery(navMesh) : null;
     }
 
-    public DemoInputGeomProvider getInputGeom() {
+    public DemoInputGeomProvider getInputGeom()
+    {
         return inputGeom;
     }
 
-    public IList<RecastBuilderResult> getRecastResults() {
+    public IList<RecastBuilderResult> getRecastResults()
+    {
         return recastResults;
     }
 
-    public NavMesh getNavMesh() {
+    public NavMesh getNavMesh()
+    {
         return navMesh;
     }
 
-    public RcSettingsView getSettingsUI() {
+    public RcSettingsView getSettingsUI()
+    {
         return _rcSettingsView;
     }
 
-    public NavMeshQuery getNavMeshQuery() {
+    public NavMeshQuery getNavMeshQuery()
+    {
         return navMeshQuery;
     }
 
-    public bool isChanged() {
+    public bool isChanged()
+    {
         return changed;
     }
 
-    public void setChanged(bool changed) {
+    public void setChanged(bool changed)
+    {
         this.changed = changed;
     }
 
-    public void update(DemoInputGeomProvider geom, IList<RecastBuilderResult> recastResults, NavMesh navMesh) {
+    public void update(DemoInputGeomProvider geom, IList<RecastBuilderResult> recastResults, NavMesh navMesh)
+    {
         inputGeom = geom;
         this.recastResults = recastResults;
         this.navMesh = navMesh;

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

@@ -21,19 +21,17 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using Silk.NET.Windowing;
-
 using DotRecast.Core;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Demo.Geom;
-
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class ConvexVolumeTool : Tool {
+public class ConvexVolumeTool : Tool
-
+{
     private Sample sample;
     private AreaModification areaType = SampleAreaModifications.SAMPLE_AREAMOD_GRASS;
     private readonly float[] boxHeight = new[] { 6f };
@@ -42,105 +40,137 @@ public class ConvexVolumeTool : Tool {
     private readonly List<float> pts = new();
     private readonly List<int> hull = new();
 
-    public override void setSample(Sample m_sample) {
+    public override void setSample(Sample m_sample)
+    {
         sample = m_sample;
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
+    {
         DemoInputGeomProvider geom = sample.getInputGeom();
-        if (geom == null) {
+        if (geom == null)
+        {
             return;
         }
 
-        if (shift) {
+        if (shift)
+        {
             // Delete
             int nearestIndex = -1;
             IList<ConvexVolume> vols = geom.convexVolumes();
-            for (int i = 0; i < vols.Count; ++i) {
+            for (int i = 0; i < vols.Count; ++i)
+            {
                 if (PolyUtils.pointInPoly(vols[i].verts, p) && p[1] >= vols[i].hmin
-                        && p[1] <= vols[i].hmax) {
+                                                            && p[1] <= vols[i].hmax)
+                {
                     nearestIndex = i;
                 }
             }
+
             // If end point close enough, delete it.
-            if (nearestIndex != -1) {
+            if (nearestIndex != -1)
+            {
                 geom.convexVolumes().RemoveAt(nearestIndex);
             }
-        } else {
+        }
+        else
+        {
             // Create
 
             // If clicked on that last pt, create the shape.
             if (pts.Count > 0 && DemoMath.vDistSqr(p,
                     new float[] { pts[pts.Count - 3], pts[pts.Count - 2], pts[pts.Count - 1] },
-                    0) < 0.2f * 0.2f) {
+                    0) < 0.2f * 0.2f)
-                if (hull.Count > 2) {
+            {
+                if (hull.Count > 2)
+                {
                     // Create shape.
                     float[] verts = new float[hull.Count * 3];
-                    for (int i = 0; i < hull.Count; ++i) {
+                    for (int i = 0; i < hull.Count; ++i)
+                    {
                         verts[i * 3] = pts[hull[i] * 3];
                         verts[i * 3 + 1] = pts[hull[i] * 3 + 1];
                         verts[i * 3 + 2] = pts[hull[i] * 3 + 2];
                     }
 
                     float minh = float.MaxValue, maxh = 0;
-                    for (int i = 0; i < hull.Count; ++i) {
+                    for (int i = 0; i < hull.Count; ++i)
+                    {
                         minh = Math.Min(minh, verts[i * 3 + 1]);
                     }
+
                     minh -= boxDescent[0];
                     maxh = minh + boxHeight[0];
 
-                    if (polyOffset[0] > 0.01f) {
+                    if (polyOffset[0] > 0.01f)
+                    {
                         float[] offset = new float[verts.Length * 2];
                         int noffset = PolyUtils.offsetPoly(verts, hull.Count, polyOffset[0], offset,
                             offset.Length);
-                        if (noffset > 0) {
+                        if (noffset > 0)
+                        {
                             geom.addConvexVolume(ArrayUtils.CopyOf(offset, 0, noffset * 3), minh, maxh, areaType);
                         }
-                    } else {
+                    }
+                    else
+                    {
                         geom.addConvexVolume(verts, minh, maxh, areaType);
                     }
                 }
+
                 pts.Clear();
                 hull.Clear();
-            } else {
+            }
+            else
+            {
                 // Add new point
                 pts.Add(p[0]);
                 pts.Add(p[1]);
                 pts.Add(p[2]);
                 // Update hull.
-                if (pts.Count > 3) {
+                if (pts.Count > 3)
+                {
                     hull.Clear();
                     hull.AddRange(ConvexUtils.convexhull(pts));
-                } else {
+                }
+                else
+                {
                     hull.Clear();
                 }
             }
         }
-
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
+    {
         RecastDebugDraw dd = renderer.getDebugDraw();
         // Find height extent of the shape.
         float minh = float.MaxValue, maxh = 0;
-        for (int i = 0; i < pts.Count; i += 3) {
+        for (int i = 0; i < pts.Count; i += 3)
+        {
             minh = Math.Min(minh, pts[i + 1]);
         }
+
         minh -= boxDescent[0];
         maxh = minh + boxHeight[0];
 
         dd.begin(POINTS, 4.0f);
-        for (int i = 0; i < pts.Count; i += 3) {
+        for (int i = 0; i < pts.Count; i += 3)
+        {
             int col = duRGBA(255, 255, 255, 255);
-            if (i == pts.Count - 3) {
+            if (i == pts.Count - 3)
+            {
                 col = duRGBA(240, 32, 16, 255);
             }
+
             dd.vertex(pts[i + 0], pts[i + 1] + 0.1f, pts[i + 2], col);
         }
+
         dd.end();
 
         dd.begin(LINES, 2.0f);
-        for (int i = 0, j = hull.Count - 1; i < hull.Count; j = i++) {
+        for (int i = 0, j = hull.Count - 1; i < hull.Count; j = i++)
+        {
             int vi = hull[j] * 3;
             int vj = hull[i] * 3;
             dd.vertex(pts[vj + 0], minh, pts[vj + 2], duRGBA(255, 255, 255, 64));
@@ -150,10 +180,12 @@ public class ConvexVolumeTool : Tool {
             dd.vertex(pts[vj + 0], minh, pts[vj + 2], duRGBA(255, 255, 255, 64));
             dd.vertex(pts[vj + 0], maxh, pts[vj + 2], duRGBA(255, 255, 255, 64));
         }
+
         dd.end();
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
+    {
         // nk_layout_row_dynamic(ctx, 20, 1);
         // nk_property_float(ctx, "Shape Height", 0.1f, boxHeight, 20f, 0.1f, 0.1f);
         // nk_layout_row_dynamic(ctx, 20, 1);
@@ -194,12 +226,13 @@ public class ConvexVolumeTool : Tool {
         // }
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Create Convex Volumes";
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
+    {
         // TODO Auto-generated method stub
     }
-
 }

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

@@ -25,13 +25,12 @@ using DotRecast.Detour.Crowd;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using Silk.NET.Windowing;
-
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class CrowdProfilingTool {
+public class CrowdProfilingTool
-
+{
     private readonly Func<CrowdAgentParams> agentParamsSupplier;
     private readonly int[] expandSimOptions = new[] { 1 };
     private readonly int[] expandCrowdOptions = new[] { 1 };
@@ -50,11 +49,13 @@ public class CrowdProfilingTool {
     private readonly List<FindRandomPointResult> zones = new();
     private long crowdUpdateTime;
 
-    public CrowdProfilingTool(Func<CrowdAgentParams> agentParamsSupplier) {
+    public CrowdProfilingTool(Func<CrowdAgentParams> agentParamsSupplier)
+    {
         this.agentParamsSupplier = agentParamsSupplier;
     }
 
-    public void layout(IWindow ctx) {
+    public void layout(IWindow ctx)
+    {
         // nk_layout_row_dynamic(ctx, 1, 1);
         // nk_spacing(ctx, 1);
         // if (nk_tree_state_push(ctx, 0, "Simulation Options", expandSimOptions)) {
@@ -141,43 +142,58 @@ public class CrowdProfilingTool {
         // }
     }
 
-    private float[] getMobPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) {
+    private float[] getMobPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos)
+    {
         Result<FindRandomPointResult> result = navquery.findRandomPoint(filter, rnd);
-        if (result.succeeded()) {
+        if (result.succeeded())
+        {
             pos = result.result.getRandomPt();
         }
+
         return pos;
     }
 
-    private float[] getVillagerPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) {
+    private float[] getVillagerPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos)
-        if (0 < zones.Count) {
+    {
-            int zone = (int) (rnd.frand() * zones.Count);
+        if (0 < zones.Count)
+        {
+            int zone = (int)(rnd.frand() * zones.Count);
             Result<FindRandomPointResult> result = navquery.findRandomPointWithinCircle(zones[zone].getRandomRef(),
                 zones[zone].getRandomPt(), zoneRadius[0], filter, rnd);
-            if (result.succeeded()) {
+            if (result.succeeded())
+            {
                 pos = result.result.getRandomPt();
             }
         }
+
         return pos;
     }
 
-    private void createZones() {
+    private void createZones()
+    {
         zones.Clear();
         QueryFilter filter = new DefaultQueryFilter();
         NavMeshQuery navquery = new NavMeshQuery(navMesh);
-        for (int i = 0; i < numberOfZones[0]; i++) {
+        for (int i = 0; i < numberOfZones[0]; i++)
+        {
             float zoneSeparation = zoneRadius[0] * zoneRadius[0] * 16;
-            for (int k = 0; k < 100; k++) {
+            for (int k = 0; k < 100; k++)
+            {
                 Result<FindRandomPointResult> result = navquery.findRandomPoint(filter, rnd);
-                if (result.succeeded()) {
+                if (result.succeeded())
+                {
                     bool valid = true;
-                    foreach (FindRandomPointResult zone in zones) {
+                    foreach (FindRandomPointResult zone in zones)
-                        if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation) {
+                    {
+                        if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation)
+                        {
                             valid = false;
                             break;
                         }
                     }
-                    if (valid) {
+
+                    if (valid)
+                    {
                         zones.Add(result.result);
                         break;
                     }
@@ -186,7 +202,8 @@ public class CrowdProfilingTool {
         }
     }
 
-    private void createCrowd() {
+    private void createCrowd()
+    {
         crowd = new Crowd(config, navMesh, __ => new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
             SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f }));
 
@@ -217,22 +234,28 @@ public class CrowdProfilingTool {
         crowd.setObstacleAvoidanceParams(3, option);
     }
 
-    public void update(float dt) {
+    public void update(float dt)
+    {
         long startTime = Stopwatch.GetTimestamp();
-        if (crowd != null) {
+        if (crowd != null)
+        {
             crowd.config().pathQueueSize = pathQueueSize[0];
             crowd.config().maxFindPathIterations = maxIterations[0];
             crowd.update(dt, null);
         }
-        long endTime = Stopwatch.GetTimestamp();
-        if (crowd != null) {
 
+        long endTime = Stopwatch.GetTimestamp();
+        if (crowd != null)
+        {
             NavMeshQuery navquery = new NavMeshQuery(navMesh);
             QueryFilter filter = new DefaultQueryFilter();
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
-                if (needsNewTarget(ag)) {
+            {
-                    AgentData agentData = (AgentData) ag.option.userData;
+                if (needsNewTarget(ag))
-                    switch (agentData.type) {
+                {
+                    AgentData agentData = (AgentData)ag.option.userData;
+                    switch (agentData.type)
+                    {
                         case AgentType.MOB:
                             moveMob(navquery, filter, ag, agentData);
                             break;
@@ -246,92 +269,119 @@ public class CrowdProfilingTool {
                 }
             }
         }
+
         crowdUpdateTime = (endTime - startTime) / 1_000_000;
     }
 
-    private void moveMob(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
+    private void moveMob(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData)
+    {
         // Move somewhere
         Result<FindNearestPolyResult> nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter);
-        if (nearestPoly.succeeded()) {
+        if (nearestPoly.succeeded())
+        {
             Result<FindRandomPointResult> result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(),
                 agentData.home, zoneRadius[0] * 2f, filter, rnd);
-            if (result.succeeded()) {
+            if (result.succeeded())
+            {
                 crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt());
             }
         }
     }
 
-    private void moveVillager(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
+    private void moveVillager(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData)
+    {
         // Move somewhere close
         Result<FindNearestPolyResult> nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter);
-        if (nearestPoly.succeeded()) {
+        if (nearestPoly.succeeded())
+        {
             Result<FindRandomPointResult> result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(),
                 agentData.home, zoneRadius[0] * 0.2f, filter, rnd);
-            if (result.succeeded()) {
+            if (result.succeeded())
+            {
                 crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt());
             }
         }
     }
 
-    private void moveTraveller(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
+    private void moveTraveller(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData)
+    {
         // Move to another zone
         List<FindRandomPointResult> potentialTargets = new();
-        foreach (FindRandomPointResult zone in zones) {
+        foreach (FindRandomPointResult zone in zones)
-            if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius[0] * zoneRadius[0]) {
+        {
+            if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius[0] * zoneRadius[0])
+            {
                 potentialTargets.Add(zone);
             }
         }
-        if (0 < potentialTargets.Count) {
+
+        if (0 < potentialTargets.Count)
+        {
             potentialTargets.Shuffle();
             crowd.requestMoveTarget(ag, potentialTargets[0].getRandomRef(), potentialTargets[0].getRandomPt());
         }
     }
 
-    private bool needsNewTarget(CrowdAgent ag) {
+    private bool needsNewTarget(CrowdAgent ag)
+    {
         if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE
-                || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) {
+            || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
+        {
             return true;
         }
-        if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) {
+
+        if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID)
+        {
             float dx = ag.targetPos[0] - ag.npos[0];
             float dy = ag.targetPos[1] - ag.npos[1];
             float dz = ag.targetPos[2] - ag.npos[2];
             return dx * dx + dy * dy + dz * dz < 0.3f;
         }
+
         return false;
     }
 
-    public void setup(float maxAgentRadius, NavMesh nav) {
+    public void setup(float maxAgentRadius, NavMesh nav)
+    {
         navMesh = nav;
-        if (nav != null) {
+        if (nav != null)
+        {
             config = new CrowdConfig(maxAgentRadius);
         }
     }
 
-    public void handleRender(NavMeshRenderer renderer) {
+    public void handleRender(NavMeshRenderer renderer)
+    {
         RecastDebugDraw dd = renderer.getDebugDraw();
         dd.depthMask(false);
-        if (crowd != null) {
+        if (crowd != null)
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 float radius = ag.option.radius;
                 float[] pos = ag.npos;
                 dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, duRGBA(0, 0, 0, 32), 2.0f);
             }
 
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
-                AgentData agentData = (AgentData) ag.option.userData;
+            {
+                AgentData agentData = (AgentData)ag.option.userData;
 
                 float height = ag.option.height;
                 float radius = ag.option.radius;
                 float[] pos = ag.npos;
 
                 int col = duRGBA(220, 220, 220, 128);
-                if (agentData.type == AgentType.TRAVELLER) {
+                if (agentData.type == AgentType.TRAVELLER)
+                {
                     col = duRGBA(100, 160, 100, 128);
                 }
-                if (agentData.type == AgentType.VILLAGER) {
+
+                if (agentData.type == AgentType.VILLAGER)
+                {
                     col = duRGBA(120, 80, 160, 128);
                 }
+
                 if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
                     || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
                     col = duLerpCol(col, duRGBA(255, 255, 32, 128), 128);
@@ -350,30 +400,38 @@ public class CrowdProfilingTool {
         dd.depthMask(true);
     }
 
-    private CrowdAgent addAgent(float[] p, AgentType type) {
+    private CrowdAgent addAgent(float[] p, AgentType type)
+    {
         CrowdAgentParams ap = agentParamsSupplier.Invoke();
         ap.userData = new AgentData(type, p);
         return crowd.addAgent(p, ap);
     }
 
-    public enum AgentType {
+    public enum AgentType
-        VILLAGER, TRAVELLER, MOB,
+    {
+        VILLAGER,
+        TRAVELLER,
+        MOB,
     }
 
-    private class AgentData {
+    private class AgentData
+    {
         public readonly AgentType type;
         public readonly float[] home = new float[3];
 
-        public AgentData(AgentType type, float[] home) {
+        public AgentData(AgentType type, float[] home)
+        {
             this.type = type;
             RecastVectors.copy(this.home, home);
         }
-
     }
 
-    public void updateAgentParams(int updateFlags, int obstacleAvoidanceType, float separationWeight) {
+    public void updateAgentParams(int updateFlags, int obstacleAvoidanceType, float separationWeight)
-        if (crowd != null) {
+    {
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        if (crowd != null)
+        {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 CrowdAgentParams option = new CrowdAgentParams();
                 option.radius = ag.option.radius;
                 option.height = ag.option.height;

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

@@ -27,16 +27,20 @@ using DotRecast.Detour.Crowd.Tracking;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Demo.Geom;
-
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class CrowdTool : Tool {
+public class CrowdTool : Tool
-
+{
-    private enum ToolMode {
+    private enum ToolMode
-        CREATE, MOVE_TARGET, SELECT, TOGGLE_POLYS, PROFILING
+    {
+        CREATE,
+        MOVE_TARGET,
+        SELECT,
+        TOGGLE_POLYS,
+        PROFILING
     }
 
     private readonly CrowdToolParams toolParams = new CrowdToolParams();
@@ -48,7 +52,8 @@ public class CrowdTool : Tool {
 
     private static readonly int AGENT_MAX_TRAIL = 64;
 
-    private class AgentTrail {
+    private class AgentTrail
+    {
         public float[] trail = new float[AGENT_MAX_TRAIL * 3];
         public int htrail;
     };
@@ -59,19 +64,23 @@ public class CrowdTool : Tool {
     private ToolMode m_mode = ToolMode.CREATE;
     private long crowdUpdateTime;
 
-    public CrowdTool() {
+    public CrowdTool()
+    {
         m_agentDebug.vod = new ObstacleAvoidanceDebugData(2048);
         profilingTool = new CrowdProfilingTool(getAgentParams);
     }
 
-    public override void setSample(Sample psample) {
+    public override void setSample(Sample psample)
-        if (sample != psample) {
+    {
+        if (sample != psample)
+        {
             sample = psample;
         }
 
         NavMesh nav = sample.getNavMesh();
 
-        if (nav != null && m_nav != nav) {
+        if (nav != null && m_nav != nav)
+        {
             m_nav = nav;
 
             CrowdConfig config = new CrowdConfig(sample.getSettingsUI().getAgentRadius());
@@ -116,41 +125,60 @@ public class CrowdTool : Tool {
         }
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
-        if (m_mode == ToolMode.PROFILING) {
+    {
+        if (m_mode == ToolMode.PROFILING)
+        {
             return;
         }
-        if (crowd == null) {
+
+        if (crowd == null)
+        {
             return;
         }
-        if (m_mode == ToolMode.CREATE) {
+
-            if (shift) {
+        if (m_mode == ToolMode.CREATE)
+        {
+            if (shift)
+            {
                 // Delete
                 CrowdAgent ahit = hitTestAgents(s, p);
-                if (ahit != null) {
+                if (ahit != null)
+                {
                     removeAgent(ahit);
                 }
-            } else {
+            }
+            else
+            {
                 // Add
                 addAgent(p);
             }
-        } else if (m_mode == ToolMode.MOVE_TARGET) {
+        }
+        else if (m_mode == ToolMode.MOVE_TARGET)
+        {
             setMoveTarget(p, shift);
-        } else if (m_mode == ToolMode.SELECT) {
+        }
+        else if (m_mode == ToolMode.SELECT)
+        {
             // Highlight
             CrowdAgent ahit = hitTestAgents(s, p);
             hilightAgent(ahit);
-        } else if (m_mode == ToolMode.TOGGLE_POLYS) {
+        }
+        else if (m_mode == ToolMode.TOGGLE_POLYS)
+        {
             NavMesh nav = sample.getNavMesh();
             NavMeshQuery navquery = sample.getNavMeshQuery();
-            if (nav != null && navquery != null) {
+            if (nav != null && navquery != null)
+            {
                 QueryFilter filter = new DefaultQueryFilter();
                 float[] halfExtents = crowd.getQueryExtents();
                 Result<FindNearestPolyResult> result = navquery.findNearestPoly(p, halfExtents, filter);
                 long refs = result.result.getNearestRef();
-                if (refs != 0) {
+                if (refs != 0)
+                {
                     Result<int> flags = nav.getPolyFlags(refs);
-                    if (flags.succeeded()) {
+                    if (flags.succeeded())
+                    {
                         nav.setPolyFlags(refs, flags.result ^ SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED);
                     }
                 }
@@ -158,17 +186,21 @@ public class CrowdTool : Tool {
         }
     }
 
-    private void removeAgent(CrowdAgent agent) {
+    private void removeAgent(CrowdAgent agent)
+    {
         crowd.removeAgent(agent);
-        if (agent == m_agentDebug.agent) {
+        if (agent == m_agentDebug.agent)
+        {
             m_agentDebug.agent = null;
         }
     }
 
-    private void addAgent(float[] p) {
+    private void addAgent(float[] p)
+    {
         CrowdAgentParams ap = getAgentParams();
         CrowdAgent ag = crowd.addAgent(p, ap);
-        if (ag != null) {
+        if (ag != null)
+        {
             if (m_targetRef != 0)
                 crowd.requestMoveTarget(ag, m_targetRef, m_targetPos);
 
@@ -178,17 +210,20 @@ public class CrowdTool : Tool {
                 trail = new AgentTrail();
                 m_trails.Add(ag.idx, trail);
             }
-            for (int i = 0; i < AGENT_MAX_TRAIL; ++i) {
+
+            for (int i = 0; i < AGENT_MAX_TRAIL; ++i)
+            {
                 trail.trail[i * 3] = p[0];
                 trail.trail[i * 3 + 1] = p[1];
                 trail.trail[i * 3 + 2] = p[2];
             }
+
             trail.htrail = 0;
         }
-
     }
 
-    private CrowdAgentParams getAgentParams() {
+    private CrowdAgentParams getAgentParams()
+    {
         CrowdAgentParams ap = new CrowdAgentParams();
         ap.radius = sample.getSettingsUI().getAgentRadius();
         ap.height = sample.getSettingsUI().getAgentHeight();
@@ -202,18 +237,21 @@ public class CrowdTool : Tool {
         return ap;
     }
 
-    private CrowdAgent hitTestAgents(float[] s, float[] p) {
+    private CrowdAgent hitTestAgents(float[] s, float[] p)
-
+    {
         CrowdAgent isel = null;
         float tsel = float.MaxValue;
 
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
+        {
             float[] bmin = new float[3], bmax = new float[3];
             getAgentBounds(ag, bmin, bmax);
             float[] isect = Intersections.intersectSegmentAABB(s, p, bmin, bmax);
-            if (null != isect) {
+            if (null != isect)
+            {
                 float tmin = isect[0];
-                if (tmin > 0 && tmin < tsel) {
+                if (tmin > 0 && tmin < tsel)
+                {
                     isel = ag;
                     tsel = tmin;
                 }
@@ -223,7 +261,8 @@ public class CrowdTool : Tool {
         return isel;
     }
 
-    private void getAgentBounds(CrowdAgent ag, float[] bmin, float[] bmax) {
+    private void getAgentBounds(CrowdAgent ag, float[] bmin, float[] bmax)
+    {
         float[] p = ag.npos;
         float r = ag.option.radius;
         float h = ag.option.height;
@@ -235,7 +274,8 @@ public class CrowdTool : Tool {
         bmax[2] = p[2] + r;
     }
 
-    private void setMoveTarget(float[] p, bool adjust) {
+    private void setMoveTarget(float[] p, bool adjust)
+    {
         if (sample == null || crowd == null)
             return;
 
@@ -244,65 +284,85 @@ public class CrowdTool : Tool {
         QueryFilter filter = crowd.getFilter(0);
         float[] halfExtents = crowd.getQueryExtents();
 
-        if (adjust) {
+        if (adjust)
+        {
             // Request velocity
-            if (m_agentDebug.agent != null) {
+            if (m_agentDebug.agent != null)
+            {
                 float[] vel = calcVel(m_agentDebug.agent.npos, p, m_agentDebug.agent.option.maxSpeed);
                 crowd.requestMoveVelocity(m_agentDebug.agent, vel);
-            } else {
+            }
-                foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            else
+            {
+                foreach (CrowdAgent ag in crowd.getActiveAgents())
+                {
                     float[] vel = calcVel(ag.npos, p, ag.option.maxSpeed);
                     crowd.requestMoveVelocity(ag, vel);
                 }
             }
-        } else {
+        }
+        else
+        {
             Result<FindNearestPolyResult> result = navquery.findNearestPoly(p, halfExtents, filter);
             m_targetRef = result.result.getNearestRef();
             m_targetPos = result.result.getNearestPos();
-            if (m_agentDebug.agent != null) {
+            if (m_agentDebug.agent != null)
+            {
                 crowd.requestMoveTarget(m_agentDebug.agent, m_targetRef, m_targetPos);
-            } else {
+            }
-                foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            else
+            {
+                foreach (CrowdAgent ag in crowd.getActiveAgents())
+                {
                     crowd.requestMoveTarget(ag, m_targetRef, m_targetPos);
                 }
             }
         }
     }
 
-    private float[] calcVel(float[] pos, float[] tgt, float speed) {
+    private float[] calcVel(float[] pos, float[] tgt, float speed)
+    {
         float[] vel = DetourCommon.vSub(tgt, pos);
         vel[1] = 0.0f;
         DetourCommon.vNormalize(vel);
         return DetourCommon.vScale(vel, speed);
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
-        if (m_mode == ToolMode.PROFILING) {
+    {
+        if (m_mode == ToolMode.PROFILING)
+        {
             profilingTool.handleRender(renderer);
             return;
         }
+
         RecastDebugDraw dd = renderer.getDebugDraw();
         float rad = sample.getSettingsUI().getAgentRadius();
         NavMesh nav = sample.getNavMesh();
         if (nav == null || crowd == null)
             return;
 
-        if (toolParams.m_showNodes && crowd.getPathQueue() != null) {
+        if (toolParams.m_showNodes && crowd.getPathQueue() != null)
+        {
 //            NavMeshQuery navquery = crowd.getPathQueue().getNavQuery();
 //            if (navquery != null) {
 //                dd.debugDrawNavMeshNodes(navquery);
 //            }
         }
+
         dd.depthMask(false);
 
         // Draw paths
-        if (toolParams.m_showPath) {
+        if (toolParams.m_showPath)
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 if (!toolParams.m_showDetailAll && ag != m_agentDebug.agent)
                     continue;
                 List<long> path = ag.corridor.getPath();
                 int npath = ag.corridor.getPathCount();
-                for (int j = 0; j < npath; ++j) {
+                for (int j = 0; j < npath; ++j)
+                {
                     dd.debugDrawNavMeshPoly(nav, path[j], duRGBA(255, 255, 255, 24));
                 }
             }
@@ -312,22 +372,27 @@ public class CrowdTool : Tool {
             dd.debugDrawCross(m_targetPos[0], m_targetPos[1] + 0.1f, m_targetPos[2], rad, duRGBA(255, 255, 255, 192), 2.0f);
 
         // Occupancy grid.
-        if (toolParams.m_showGrid) {
+        if (toolParams.m_showGrid)
+        {
             float gridy = -float.MaxValue;
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 float[] pos = ag.corridor.getPos();
                 gridy = Math.Max(gridy, pos[1]);
             }
+
             gridy += 1.0f;
 
             dd.begin(QUADS);
             ProximityGrid grid = crowd.getGrid();
             float cs = grid.getCellSize();
-            foreach (int[] ic in grid.getItemCounts()) {
+            foreach (int[] ic in grid.getItemCounts())
+            {
                 int x = ic[0];
                 int y = ic[1];
                 int count = ic[2];
-                if (count != 0) {
+                if (count != 0)
+                {
                     int col = duRGBA(128, 0, 0, Math.Min(count * 40, 255));
                     dd.vertex(x * cs, gridy, y * cs, col);
                     dd.vertex(x * cs, gridy, y * cs + cs, col);
@@ -335,12 +400,13 @@ public class CrowdTool : Tool {
                     dd.vertex(x * cs + cs, gridy, y * cs, col);
                 }
             }
+
             dd.end();
         }
 
         // Trail
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
-
+        {
             AgentTrail trail = m_trails[ag.idx];
             float[] pos = ag.npos;
 
@@ -348,38 +414,45 @@ public class CrowdTool : Tool {
             float[] prev = new float[3];
             float preva = 1;
             DetourCommon.vCopy(prev, pos);
-            for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j) {
+            for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j)
+            {
                 int idx = (trail.htrail + AGENT_MAX_TRAIL - j) % AGENT_MAX_TRAIL;
                 int v = idx * 3;
-                float a = 1 - j / (float) AGENT_MAX_TRAIL;
+                float a = 1 - j / (float)AGENT_MAX_TRAIL;
-                dd.vertex(prev[0], prev[1] + 0.1f, prev[2], duRGBA(0, 0, 0, (int) (128 * preva)));
+                dd.vertex(prev[0], prev[1] + 0.1f, prev[2], duRGBA(0, 0, 0, (int)(128 * preva)));
-                dd.vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], duRGBA(0, 0, 0, (int) (128 * a)));
+                dd.vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], duRGBA(0, 0, 0, (int)(128 * a)));
                 preva = a;
                 DetourCommon.vCopy(prev, trail.trail, v);
             }
-            dd.end();
 
+            dd.end();
         }
 
         // Corners & co
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
+        {
             if (toolParams.m_showDetailAll == false && ag != m_agentDebug.agent)
                 continue;
 
             float radius = ag.option.radius;
             float[] pos = ag.npos;
 
-            if (toolParams.m_showCorners) {
+            if (toolParams.m_showCorners)
-                if (0 < ag.corners.Count) {
+            {
+                if (0 < ag.corners.Count)
+                {
                     dd.begin(LINES, 2.0f);
-                    for (int j = 0; j < ag.corners.Count; ++j) {
+                    for (int j = 0; j < ag.corners.Count; ++j)
+                    {
                         float[] va = j == 0 ? pos : ag.corners[j - 1].getPos();
                         float[] vb = ag.corners[j].getPos();
                         dd.vertex(va[0], va[1] + radius, va[2], duRGBA(128, 0, 0, 192));
                         dd.vertex(vb[0], vb[1] + radius, vb[2], duRGBA(128, 0, 0, 192));
                     }
+
                     if ((ag.corners[ag.corners.Count - 1].getFlags()
-                            & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) {
+                         & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    {
                         float[] v = ag.corners[ag.corners.Count - 1].getPos();
                         dd.vertex(v[0], v[1], v[2], duRGBA(192, 0, 0, 192));
                         dd.vertex(v[0], v[1] + radius * 2, v[2], duRGBA(192, 0, 0, 192));
@@ -387,7 +460,8 @@ public class CrowdTool : Tool {
 
                     dd.end();
 
-                    if (toolParams.m_anticipateTurns) {
+                    if (toolParams.m_anticipateTurns)
+                    {
                         /*                  float dvel[3], pos[3];
                          calcSmoothSteerDirection(ag.pos, ag.cornerVerts, ag.ncorners, dvel);
                          pos[0] = ag.pos[0] + dvel[0];
@@ -411,14 +485,16 @@ public class CrowdTool : Tool {
                 }
             }
 
-            if (toolParams.m_showCollisionSegments) {
+            if (toolParams.m_showCollisionSegments)
+            {
                 float[] center = ag.boundary.getCenter();
                 dd.debugDrawCross(center[0], center[1] + radius, center[2], 0.2f, duRGBA(192, 0, 128, 255), 2.0f);
                 dd.debugDrawCircle(center[0], center[1] + radius, center[2], ag.option.collisionQueryRange,
                     duRGBA(192, 0, 128, 128), 2.0f);
 
                 dd.begin(LINES, 3.0f);
-                for (int j = 0; j < ag.boundary.getSegmentCount(); ++j) {
+                for (int j = 0; j < ag.boundary.getSegmentCount(); ++j)
+                {
                     int col = duRGBA(192, 0, 128, 192);
                     float[] s = ag.boundary.getSegment(j);
                     float[] s0 = new float[] { s[0], s[1], s[2] };
@@ -428,25 +504,31 @@ public class CrowdTool : Tool {
 
                     dd.appendArrow(s[0], s[1] + 0.2f, s[2], s[3], s[4] + 0.2f, s[5], 0.0f, 0.3f, col);
                 }
+
                 dd.end();
             }
 
-            if (toolParams.m_showNeis) {
+            if (toolParams.m_showNeis)
+            {
                 dd.debugDrawCircle(pos[0], pos[1] + radius, pos[2], ag.option.collisionQueryRange, duRGBA(0, 192, 128, 128),
                     2.0f);
 
                 dd.begin(LINES, 2.0f);
-                for (int j = 0; j < ag.neis.Count; ++j) {
+                for (int j = 0; j < ag.neis.Count; ++j)
+                {
                     CrowdAgent nei = ag.neis[j].agent;
-                    if (nei != null) {
+                    if (nei != null)
+                    {
                         dd.vertex(pos[0], pos[1] + radius, pos[2], duRGBA(0, 192, 128, 128));
                         dd.vertex(nei.npos[0], nei.npos[1] + radius, nei.npos[2], duRGBA(0, 192, 128, 128));
                     }
                 }
+
                 dd.end();
             }
 
-            if (toolParams.m_showOpt) {
+            if (toolParams.m_showOpt)
+            {
                 dd.begin(LINES, 2.0f);
                 dd.vertex(m_agentDebug.optStart[0], m_agentDebug.optStart[1] + 0.3f, m_agentDebug.optStart[2],
                     duRGBA(0, 128, 0, 192));
@@ -456,8 +538,8 @@ public class CrowdTool : Tool {
         }
 
         // Agent cylinders.
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
-
+        {
             float radius = ag.option.radius;
             float[] pos = ag.npos;
 
@@ -468,8 +550,8 @@ public class CrowdTool : Tool {
             dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, col, 2.0f);
         }
 
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
-
+        {
             float height = ag.option.height;
             float radius = ag.option.radius;
             float[] pos = ag.npos;
@@ -489,8 +571,10 @@ public class CrowdTool : Tool {
                 pos[2] + radius, col);
         }
 
-        if (toolParams.m_showVO) {
+        if (toolParams.m_showVO)
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 if (toolParams.m_showDetailAll == false && ag != m_agentDebug.agent)
                     continue;
 
@@ -504,25 +588,27 @@ public class CrowdTool : Tool {
                 dd.debugDrawCircle(dx, dy, dz, ag.option.maxSpeed, duRGBA(255, 255, 255, 64), 2.0f);
 
                 dd.begin(QUADS);
-                for (int j = 0; j < vod.getSampleCount(); ++j) {
+                for (int j = 0; j < vod.getSampleCount(); ++j)
+                {
                     float[] p = vod.getSampleVelocity(j);
                     float sr = vod.getSampleSize(j);
                     float pen = vod.getSamplePenalty(j);
                     float pen2 = vod.getSamplePreferredSidePenalty(j);
-                    int col = duLerpCol(duRGBA(255, 255, 255, 220), duRGBA(128, 96, 0, 220), (int) (pen * 255));
+                    int col = duLerpCol(duRGBA(255, 255, 255, 220), duRGBA(128, 96, 0, 220), (int)(pen * 255));
-                    col = duLerpCol(col, duRGBA(128, 0, 0, 220), (int) (pen2 * 128));
+                    col = duLerpCol(col, duRGBA(128, 0, 0, 220), (int)(pen2 * 128));
                     dd.vertex(dx + p[0] - sr, dy, dz + p[2] - sr, col);
                     dd.vertex(dx + p[0] - sr, dy, dz + p[2] + sr, col);
                     dd.vertex(dx + p[0] + sr, dy, dz + p[2] + sr, col);
                     dd.vertex(dx + p[0] + sr, dy, dz + p[2] - sr, col);
                 }
+
                 dd.end();
             }
         }
 
         // Velocity stuff.
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
-
+        {
             float radius = ag.option.radius;
             float height = ag.option.height;
             float[] pos = ag.npos;
@@ -552,15 +638,19 @@ public class CrowdTool : Tool {
         dd.depthMask(true);
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
+    {
         updateTick(dt);
     }
 
-    private void updateTick(float dt) {
+    private void updateTick(float dt)
-        if (m_mode == ToolMode.PROFILING) {
+    {
+        if (m_mode == ToolMode.PROFILING)
+        {
             profilingTool.update(dt);
             return;
         }
+
         if (crowd == null)
             return;
         NavMesh nav = sample.getNavMesh();
@@ -572,7 +662,8 @@ public class CrowdTool : Tool {
         long endTime = Stopwatch.GetTimestamp();
 
         // Update agent trails
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
+        {
             AgentTrail trail = m_trails[ag.idx];
             // Update agent movement trail.
             trail.htrail = (trail.htrail + 1) % AGENT_MAX_TRAIL;
@@ -587,11 +678,13 @@ public class CrowdTool : Tool {
         crowdUpdateTime = (endTime - startTime) / 1_000_000;
     }
 
-    private void hilightAgent(CrowdAgent agent) {
+    private void hilightAgent(CrowdAgent agent)
+    {
         m_agentDebug.agent = agent;
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
+    {
         // ToolMode previousToolMode = m_mode;
         // nk_layout_row_dynamic(ctx, 20, 1);
         // if (nk_option_label(ctx, "Create Agents", m_mode == ToolMode.CREATE)) {
@@ -683,14 +776,17 @@ public class CrowdTool : Tool {
         // }
     }
 
-    private void updateAgentParams() {
+    private void updateAgentParams()
-        if (crowd == null) {
+    {
+        if (crowd == null)
+        {
             return;
         }
 
         int updateFlags = getUpdateFlags();
         profilingTool.updateAgentParams(updateFlags, toolParams.m_obstacleAvoidanceType[0], toolParams.m_separationWeight[0]);
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
+        {
             CrowdAgentParams option = new CrowdAgentParams();
             option.radius = ag.option.radius;
             option.height = ag.option.height;
@@ -708,28 +804,39 @@ public class CrowdTool : Tool {
         }
     }
 
-    private int getUpdateFlags() {
+    private int getUpdateFlags()
+    {
         int updateFlags = 0;
-        if (toolParams.m_anticipateTurns) {
+        if (toolParams.m_anticipateTurns)
+        {
             updateFlags |= CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS;
         }
-        if (toolParams.m_optimizeVis) {
+
+        if (toolParams.m_optimizeVis)
+        {
             updateFlags |= CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS;
         }
-        if (toolParams.m_optimizeTopo) {
+
+        if (toolParams.m_optimizeTopo)
+        {
             updateFlags |= CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO;
         }
-        if (toolParams.m_obstacleAvoidance) {
+
+        if (toolParams.m_obstacleAvoidance)
+        {
             updateFlags |= CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
         }
-        if (toolParams.m_separation) {
+
+        if (toolParams.m_separation)
+        {
             updateFlags |= CrowdAgentParams.DT_CROWD_SEPARATION;
         }
+
         return updateFlags;
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Crowd";
     }
-
 }

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

@@ -15,11 +15,11 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.Tools;
 
-
+public class CrowdToolParams
-public class CrowdToolParams {
+{
-
     public readonly int[] m_expandSelectedDebugDraw = new[] { 1 };
     public bool m_showCorners;
     public bool m_showCollisionSegments;

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

@@ -6,9 +6,9 @@ namespace DotRecast.Recast.Demo.Tools;
 
 public static class DemoObjImporter
 {
-    public static DemoInputGeomProvider load(byte[] chunk) {
+    public static DemoInputGeomProvider load(byte[] chunk)
+    {
         var context = ObjImporter.loadContext(chunk);
         return new DemoInputGeomProvider(context.vertexPositions, context.meshFaces);
-
     }
 }

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

@@ -30,20 +30,31 @@ using DotRecast.Recast.Demo.Geom;
 using DotRecast.Recast.Demo.Tools.Gizmos;
 using DotRecast.Recast.Demo.UI;
 using Silk.NET.Windowing;
-
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Recast.Demo.Tools;
-public class DynamicUpdateTool : Tool {
 
-    private enum ToolMode {
+public class DynamicUpdateTool : Tool
-        BUILD, COLLIDERS, RAYCAST
+{
+    private enum ToolMode
+    {
+        BUILD,
+        COLLIDERS,
+        RAYCAST
     }
 
-    private enum ColliderShape {
+    private enum ColliderShape
-        SPHERE, CAPSULE, BOX, CYLINDER, COMPOSITE, CONVEX, TRIMESH_BRIDGE, TRIMESH_HOUSE
+    {
+        SPHERE,
+        CAPSULE,
+        BOX,
+        CYLINDER,
+        COMPOSITE,
+        CONVEX,
+        TRIMESH_BRIDGE,
+        TRIMESH_HOUSE
     }
 
     private Sample sample;
@@ -94,49 +105,78 @@ public class DynamicUpdateTool : Tool {
         convexGeom = DemoObjImporter.load(Loader.ToBytes("convex.obj"));
     }
 
-    public override void setSample(Sample sample) {
+    public override void setSample(Sample sample)
+    {
         this.sample = sample;
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
-        if (mode == ToolMode.COLLIDERS) {
+    {
-            if (!shift) {
+        if (mode == ToolMode.COLLIDERS)
+        {
+            if (!shift)
+            {
                 Tuple<Collider, ColliderGizmo> colliderWithGizmo = null;
-                if (dynaMesh != null) {
+                if (dynaMesh != null)
-                    if (colliderShape == ColliderShape.SPHERE) {
+                {
+                    if (colliderShape == ColliderShape.SPHERE)
+                    {
                         colliderWithGizmo = sphereCollider(p);
-                    } else if (colliderShape == ColliderShape.CAPSULE) {
+                    }
+                    else if (colliderShape == ColliderShape.CAPSULE)
+                    {
                         colliderWithGizmo = capsuleCollider(p);
-                    } else if (colliderShape == ColliderShape.BOX) {
+                    }
+                    else if (colliderShape == ColliderShape.BOX)
+                    {
                         colliderWithGizmo = boxCollider(p);
-                    } else if (colliderShape == ColliderShape.CYLINDER) {
+                    }
+                    else if (colliderShape == ColliderShape.CYLINDER)
+                    {
                         colliderWithGizmo = cylinderCollider(p);
-                    } else if (colliderShape == ColliderShape.COMPOSITE) {
+                    }
+                    else if (colliderShape == ColliderShape.COMPOSITE)
+                    {
                         colliderWithGizmo = compositeCollider(p);
-                    } else if (colliderShape == ColliderShape.TRIMESH_BRIDGE) {
+                    }
+                    else if (colliderShape == ColliderShape.TRIMESH_BRIDGE)
+                    {
                         colliderWithGizmo = trimeshBridge(p);
-                    } else if (colliderShape == ColliderShape.TRIMESH_HOUSE) {
+                    }
+                    else if (colliderShape == ColliderShape.TRIMESH_HOUSE)
+                    {
                         colliderWithGizmo = trimeshHouse(p);
-                    } else if (colliderShape == ColliderShape.CONVEX) {
+                    }
+                    else if (colliderShape == ColliderShape.CONVEX)
+                    {
                         colliderWithGizmo = convexTrimesh(p);
                     }
                 }
-                if (colliderWithGizmo != null) {
+
+                if (colliderWithGizmo != null)
+                {
                     long id = dynaMesh.addCollider(colliderWithGizmo.Item1);
                     colliders.Add(id, colliderWithGizmo.Item1);
                     colliderGizmos.Add(id, colliderWithGizmo.Item2);
                 }
             }
         }
-        if (mode == ToolMode.RAYCAST) {
+
-            if (shift) {
+        if (mode == ToolMode.RAYCAST)
+        {
+            if (shift)
+            {
                 sposSet = true;
                 spos = ArrayUtils.CopyOf(p, p.Length);
-            } else {
+            }
+            else
+            {
                 eposSet = true;
                 epos = ArrayUtils.CopyOf(p, p.Length);
             }
-            if (sposSet && eposSet && dynaMesh != null) {
+
+            if (sposSet && eposSet && dynaMesh != null)
+            {
                 float[] sp = { spos[0], spos[1] + 1.3f, spos[2] };
                 float[] ep = { epos[0], epos[1] + 1.3f, epos[2] };
                 long t1 = Stopwatch.GetTimestamp();
@@ -151,14 +191,16 @@ public class DynamicUpdateTool : Tool {
         }
     }
 
-    private Tuple<Collider, ColliderGizmo> sphereCollider(float[] p) {
+    private Tuple<Collider, ColliderGizmo> sphereCollider(float[] p)
+    {
         float radius = 1 + (float)random.NextDouble() * 10;
         return Tuple.Create<Collider, ColliderGizmo>(
             new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, dynaMesh.config.walkableClimb),
             GizmoFactory.sphere(p, radius));
     }
 
-    private Tuple<Collider, ColliderGizmo> capsuleCollider(float[] p) {
+    private Tuple<Collider, ColliderGizmo> capsuleCollider(float[] p)
+    {
         float radius = 0.4f + (float)random.NextDouble() * 4f;
         float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
         vNormalize(a);
@@ -172,9 +214,13 @@ public class DynamicUpdateTool : Tool {
             dynaMesh.config.walkableClimb), GizmoFactory.capsule(start, end, radius));
     }
 
-    private Tuple<Collider, ColliderGizmo> boxCollider(float[] p) {
+    private Tuple<Collider, ColliderGizmo> boxCollider(float[] p)
-        float[] extent = new float[] { 0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f,
+    {
-                0.5f + (float)random.NextDouble() * 6f };
+        float[] extent = new float[]
+        {
+            0.5f + (float)random.NextDouble() * 6f, 0.5f + (float)random.NextDouble() * 6f,
+            0.5f + (float)random.NextDouble() * 6f
+        };
         float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) };
         float[] up = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
         float[][] halfEdges = BoxCollider.getHalfEdges(up, forward, extent);
@@ -183,7 +229,8 @@ public class DynamicUpdateTool : Tool {
             GizmoFactory.box(p, halfEdges));
     }
 
-    private Tuple<Collider, ColliderGizmo> cylinderCollider(float[] p) {
+    private Tuple<Collider, ColliderGizmo> cylinderCollider(float[] p)
+    {
         float radius = 0.7f + (float)random.NextDouble() * 4f;
         float[] a = new float[] { (1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()) };
         vNormalize(a);
@@ -197,7 +244,8 @@ public class DynamicUpdateTool : Tool {
             dynaMesh.config.walkableClimb), GizmoFactory.cylinder(start, end, radius));
     }
 
-    private Tuple<Collider, ColliderGizmo> compositeCollider(float[] p) {
+    private Tuple<Collider, ColliderGizmo> compositeCollider(float[] p)
+    {
         float[] baseExtent = new float[] { 5, 3, 8 };
         float[] baseCenter = new float[] { p[0], p[1] + 3, p[2] };
         float[] baseUp = new float[] { 0, 1, 0 };
@@ -212,13 +260,19 @@ public class DynamicUpdateTool : Tool {
         float[] roofCenter = new float[] { p[0], p[1] + 6, p[2] };
         BoxCollider roof = new BoxCollider(roofCenter, BoxCollider.getHalfEdges(roofUp, forward, roofExtent),
             SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
-        float[] trunkStart = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1],
+        float[] trunkStart = new float[]
-                baseCenter[2] - forward[2] * 15 + side[2] * 6 };
+        {
+            baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1],
+            baseCenter[2] - forward[2] * 15 + side[2] * 6
+        };
         float[] trunkEnd = new float[] { trunkStart[0], trunkStart[1] + 10, trunkStart[2] };
         CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
             dynaMesh.config.walkableClimb);
-        float[] crownCenter = new float[] { baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1] + 10,
+        float[] crownCenter = new float[]
-                baseCenter[2] - forward[2] * 15 + side[2] * 6 };
+        {
+            baseCenter[0] - forward[0] * 15 + side[0] * 6, p[1] + 10,
+            baseCenter[2] - forward[2] * 15 + side[2] * 6
+        };
         SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
             dynaMesh.config.walkableClimb);
         CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown);
@@ -230,36 +284,42 @@ public class DynamicUpdateTool : Tool {
         return Tuple.Create<Collider, ColliderGizmo>(collider, gizmo);
     }
 
-    private Tuple<Collider, ColliderGizmo> trimeshBridge(float[] p) {
+    private Tuple<Collider, ColliderGizmo> trimeshBridge(float[] p)
+    {
         return trimeshCollider(p, bridgeGeom);
     }
 
-    private Tuple<Collider, ColliderGizmo> trimeshHouse(float[] p) {
+    private Tuple<Collider, ColliderGizmo> trimeshHouse(float[] p)
+    {
         return trimeshCollider(p, houseGeom);
     }
 
-    private Tuple<Collider, ColliderGizmo> convexTrimesh(float[] p) {
+    private Tuple<Collider, ColliderGizmo> convexTrimesh(float[] p)
+    {
         float[] verts = transformVertices(p, convexGeom, 360);
         ConvexTrimeshCollider collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
             SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb * 10);
         return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, convexGeom.faces));
     }
 
-    private Tuple<Collider, ColliderGizmo> trimeshCollider(float[] p, DemoInputGeomProvider geom) {
+    private Tuple<Collider, ColliderGizmo> trimeshCollider(float[] p, DemoInputGeomProvider geom)
+    {
         float[] verts = transformVertices(p, geom, 0);
         TrimeshCollider collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
             dynaMesh.config.walkableClimb * 10);
         return Tuple.Create<Collider, ColliderGizmo>(collider, GizmoFactory.trimesh(verts, geom.faces));
     }
 
-    private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax) {
+    private float[] transformVertices(float[] p, DemoInputGeomProvider geom, float ax)
+    {
         float[] rx = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * ax, 1, 0, 0);
         float[] ry = GLU.build_4x4_rotation_matrix((float)random.NextDouble() * 360, 0, 1, 0);
         float[] m = GLU.mul(rx, ry);
         float[] verts = new float[geom.vertices.Length];
         float[] v = new float[3];
         float[] vr = new float[3];
-        for (int i = 0; i < geom.vertices.Length; i += 3) {
+        for (int i = 0; i < geom.vertices.Length; i += 3)
+        {
             v[0] = geom.vertices[i];
             v[1] = geom.vertices[i + 1];
             v[2] = geom.vertices[i + 2];
@@ -271,21 +331,28 @@ public class DynamicUpdateTool : Tool {
             verts[i + 1] = vr[1];
             verts[i + 2] = vr[2];
         }
+
         return verts;
     }
 
-    private float[] mulMatrixVector(float[] resultvector, float[] matrix, float[] pvector) {
+    private float[] mulMatrixVector(float[] resultvector, float[] matrix, float[] pvector)
+    {
         resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2];
         resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2];
         resultvector[2] = matrix[2] * pvector[0] + matrix[6] * pvector[1] + matrix[10] * pvector[2];
         return resultvector;
     }
 
-    public override void handleClickRay(float[] start, float[] dir, bool shift) {
+    public override void handleClickRay(float[] start, float[] dir, bool shift)
-        if (mode == ToolMode.COLLIDERS) {
+    {
-            if (shift) {
+        if (mode == ToolMode.COLLIDERS)
-                foreach (var e in colliders) {
+        {
-                    if (hit(start, dir, e.Value.bounds())) {
+            if (shift)
+            {
+                foreach (var e in colliders)
+                {
+                    if (hit(start, dir, e.Value.bounds()))
+                    {
                         dynaMesh.removeCollider(e.Key);
                         colliders.Remove(e.Key);
                         colliderGizmos.Remove(e.Key);
@@ -296,7 +363,8 @@ public class DynamicUpdateTool : Tool {
         }
     }
 
-    private bool hit(float[] point, float[] dir, float[] bounds) {
+    private bool hit(float[] point, float[] dir, float[] bounds)
+    {
         float cx = 0.5f * (bounds[0] + bounds[3]);
         float cy = 0.5f * (bounds[1] + bounds[4]);
         float cz = 0.5f * (bounds[2] + bounds[5]);
@@ -308,46 +376,62 @@ public class DynamicUpdateTool : Tool {
         float my = point[1] - cy;
         float mz = point[2] - cz;
         float c = mx * mx + my * my + mz * mz - rSqr;
-        if (c <= 0.0f) {
+        if (c <= 0.0f)
+        {
             return true;
         }
+
         float b = mx * dir[0] + my * dir[1] + mz * dir[2];
-        if (b > 0.0f) {
+        if (b > 0.0f)
+        {
             return false;
         }
+
         float disc = b * b - c;
         return disc >= 0.0f;
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
-        if (mode == ToolMode.COLLIDERS) {
+    {
-            if (showColliders) {
+        if (mode == ToolMode.COLLIDERS)
+        {
+            if (showColliders)
+            {
                 colliderGizmos.Values.forEach(g => g.render(renderer.getDebugDraw()));
             }
         }
-        if (mode == ToolMode.RAYCAST) {
+
+        if (mode == ToolMode.RAYCAST)
+        {
             RecastDebugDraw dd = renderer.getDebugDraw();
             int startCol = duRGBA(128, 25, 0, 192);
             int endCol = duRGBA(51, 102, 0, 129);
-            if (sposSet) {
+            if (sposSet)
+            {
                 drawAgent(dd, spos, startCol);
             }
-            if (eposSet) {
+
+            if (eposSet)
+            {
                 drawAgent(dd, epos, endCol);
             }
+
             dd.depthMask(false);
-            if (raycastHitPos != null) {
+            if (raycastHitPos != null)
+            {
                 int spathCol = raycastHit ? duRGBA(128, 32, 16, 220) : duRGBA(64, 128, 240, 220);
                 dd.begin(LINES, 2.0f);
                 dd.vertex(spos[0], spos[1] + 1.3f, spos[2], spathCol);
                 dd.vertex(raycastHitPos[0], raycastHitPos[1], raycastHitPos[2], spathCol);
                 dd.end();
             }
+
             dd.depthMask(true);
         }
     }
 
-    private void drawAgent(RecastDebugDraw dd, float[] pos, int col) {
+    private void drawAgent(RecastDebugDraw dd, float[] pos, int col)
+    {
         float r = sample.getSettingsUI().getAgentRadius();
         float h = sample.getSettingsUI().getAgentHeight();
         float c = sample.getSettingsUI().getAgentMaxClimb();
@@ -367,29 +451,35 @@ public class DynamicUpdateTool : Tool {
         dd.depthMask(true);
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
-        if (dynaMesh != null) {
+    {
+        if (dynaMesh != null)
+        {
             updateDynaMesh();
         }
     }
 
-    private void updateDynaMesh() {
+    private void updateDynaMesh()
+    {
         long t = Stopwatch.GetTimestamp();
         try
         {
             bool updated = dynaMesh.update(executor).Result;
-            if (updated) {
+            if (updated)
+            {
                 buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000;
                 sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh());
                 sample.setChanged(false);
             }
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             Console.WriteLine(e);
         }
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
-
+    {
         // nk_layout_row_dynamic(ctx, 18, 1);
         // if (nk_option_label(ctx, "Build", mode == ToolMode.BUILD)) {
         //     mode = ToolMode.BUILD;
@@ -557,10 +647,10 @@ public class DynamicUpdateTool : Tool {
         // } else {
         //     nk_label(ctx, string.format("Build Time: %d ms", buildTime), NK_TEXT_ALIGN_LEFT);
         // }
-
     }
 
-    private void load() {
+    private void load()
+    {
         // try (MemoryStack stack = stackPush()) {
         //     PointerBuffer aFilterPatterns = stack.mallocPointer(1);
         //     aFilterPatterns.put(stack.UTF8("*.voxels"));
@@ -570,10 +660,10 @@ public class DynamicUpdateTool : Tool {
         //         load(filename);
         //     }
         // }
-
     }
 
-    private void load(string filename) {
+    private void load(string filename)
+    {
         // File file = new File(filename);
         // if (file.exists()) {
         //     VoxelFileReader reader = new VoxelFileReader();
@@ -591,7 +681,8 @@ public class DynamicUpdateTool : Tool {
         // }
     }
 
-    private void save() {
+    private void save()
+    {
         // try (MemoryStack stack = stackPush()) {
         //     PointerBuffer aFilterPatterns = stack.mallocPointer(1);
         //     aFilterPatterns.put(stack.UTF8("*.voxels"));
@@ -601,10 +692,10 @@ public class DynamicUpdateTool : Tool {
         //         save(filename);
         //     }
         // }
-
     }
 
-    private void save(string filename) {
+    private void save(string filename)
+    {
         // File file = new File(filename);
         // try (FileOutputStream fos = new FileOutputStream(file)) {
         //     VoxelFile voxelFile = VoxelFile.from(dynaMesh);
@@ -613,23 +704,27 @@ public class DynamicUpdateTool : Tool {
         // } catch (Exception e) {
         //     Console.WriteLine(e);
         // }
-
     }
 
-    private void buildDynaMesh() {
+    private void buildDynaMesh()
+    {
         configDynaMesh();
         long t = Stopwatch.GetTimestamp();
         try
         {
             var _ = dynaMesh.build(executor).Result;
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             Console.WriteLine(e);
         }
+
         buildTime = (Stopwatch.GetTimestamp() - t) / 1_000_000;
         sample.update(null, dynaMesh.recastResults(), dynaMesh.navMesh());
     }
 
-    private void configDynaMesh() {
+    private void configDynaMesh()
+    {
         dynaMesh.config.partitionType = partitioning;
         dynaMesh.config.walkableHeight = walkableHeight[0];
         dynaMesh.config.walkableSlopeAngle = walkableSlopeAngle[0];
@@ -648,7 +743,8 @@ public class DynamicUpdateTool : Tool {
         dynaMesh.config.detailSampleMaxError = detailSampleMaxError[0];
     }
 
-    private void updateUI() {
+    private void updateUI()
+    {
         cellSize[0] = dynaMesh.config.cellSize;
         partitioning = dynaMesh.config.partitionType;
         walkableHeight[0] = dynaMesh.config.walkableHeight;
@@ -668,8 +764,8 @@ public class DynamicUpdateTool : Tool {
         filterWalkableLowHeightSpans = dynaMesh.config.filterWalkableLowHeightSpans;
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Dynamic Updates";
     }
-
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/BoxGizmo.cs

@@ -3,11 +3,16 @@ using DotRecast.Recast.Demo.Draw;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
+public class BoxGizmo : ColliderGizmo
+{
+    private static readonly int[] TRIANLGES =
+    {
+        0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2,
+        2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7
+    };
 
-public class BoxGizmo : ColliderGizmo {
+    private static readonly float[][] VERTS =
-    private static readonly int[] TRIANLGES = { 0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2,
+    {
-            2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7 };
-    private static readonly float[][] VERTS = { 
         new[] { -1f, -1f, -1f, },
         new[] { 1f, -1f, -1f, },
         new[] { 1f, -1f, 1f, },
@@ -27,10 +32,12 @@ public class BoxGizmo : ColliderGizmo {
     {
     }
 
-    public BoxGizmo(float[] center, float[][] halfEdges) {
+    public BoxGizmo(float[] center, float[][] halfEdges)
+    {
         this.center = center;
         this.halfEdges = halfEdges;
-        for (int i = 0; i < 8; ++i) {
+        for (int i = 0; i < 8; ++i)
+        {
             float s0 = (i & 1) != 0 ? 1f : -1f;
             float s1 = (i & 2) != 0 ? 1f : -1f;
             float s2 = (i & 4) != 0 ? 1f : -1f;
@@ -40,29 +47,39 @@ public class BoxGizmo : ColliderGizmo {
         }
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
+    {
         float[] trX = new float[] { halfEdges[0][0], halfEdges[1][0], halfEdges[2][0] };
         float[] trY = new float[] { halfEdges[0][1], halfEdges[1][1], halfEdges[2][1] };
         float[] trZ = new float[] { halfEdges[0][2], halfEdges[1][2], halfEdges[2][2] };
         float[] vertices = new float[8 * 3];
-        for (int i = 0; i < 8; i++) {
+        for (int i = 0; i < 8; i++)
+        {
             vertices[i * 3 + 0] = RecastVectors.dot(VERTS[i], trX) + center[0];
             vertices[i * 3 + 1] = RecastVectors.dot(VERTS[i], trY) + center[1];
             vertices[i * 3 + 2] = RecastVectors.dot(VERTS[i], trZ) + center[2];
         }
+
         debugDraw.begin(DebugDrawPrimitives.TRIS);
-        for (int i = 0; i < 12; i++) {
+        for (int i = 0; i < 12; i++)
+        {
             int col = DebugDraw.duRGBA(200, 200, 50, 160);
-            if (i == 4 || i == 5 || i == 8 || i == 9) {
+            if (i == 4 || i == 5 || i == 8 || i == 9)
+            {
                 col = DebugDraw.duRGBA(160, 160, 40, 160);
-            } else if (i > 4) {
+            }
+            else if (i > 4)
+            {
                 col = DebugDraw.duRGBA(120, 120, 30, 160);
             }
-            for (int j = 0; j < 3; j++) {
+
+            for (int j = 0; j < 3; j++)
+            {
                 int v = TRIANLGES[i * 3 + j] * 3;
                 debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
             }
         }
+
         debugDraw.end();
     }
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs

@@ -1,21 +1,24 @@
 using DotRecast.Recast.Demo.Draw;
-
 using static DotRecast.Recast.RecastVectors;
 using static DotRecast.Detour.DetourCommon;
 using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-
+public class CapsuleGizmo : ColliderGizmo
-public class CapsuleGizmo : ColliderGizmo {
+{
     private readonly float[] vertices;
     private readonly int[] triangles;
     private readonly float[] center;
     private readonly float[] gradient;
 
-    public CapsuleGizmo(float[] start, float[] end, float radius) {
+    public CapsuleGizmo(float[] start, float[] end, float radius)
-        center = new float[] { 0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]),
+    {
-                0.5f * (start[2] + end[2]) };
+        center = new float[]
+        {
+            0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]),
+            0.5f * (start[2] + end[2])
+        };
         float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
         float[][] normals = new float[3][];
         normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
@@ -33,7 +36,8 @@ public class CapsuleGizmo : ColliderGizmo {
         vertices = new float[spVertices.Length];
         gradient = new float[spVertices.Length / 3];
         float[] v = new float[3];
-        for (int i = 0; i < spVertices.Length; i += 3) {
+        for (int i = 0; i < spVertices.Length; i += 3)
+        {
             float offset = (i >= spVertices.Length / 2) ? -halfLength : halfLength;
             float x = radius * spVertices[i];
             float y = radius * spVertices[i + 1] + offset;
@@ -47,14 +51,16 @@ public class CapsuleGizmo : ColliderGizmo {
             normalize(v);
             gradient[i / 3] = clamp(0.57735026f * (v[0] + v[1] + v[2]), -1, 1);
         }
-
     }
 
-    private float[] getSideVector(float[] axis) {
+    private float[] getSideVector(float[] axis)
+    {
         float[] side = { 1, 0, 0 };
-        if (axis[0] > 0.8) {
+        if (axis[0] > 0.8)
+        {
             side = new float[] { 0, 0, 1 };
         }
+
         float[] forward = new float[3];
         cross(forward, side, axis);
         cross(side, axis, forward);
@@ -62,19 +68,21 @@ public class CapsuleGizmo : ColliderGizmo {
         return side;
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
-
+    {
         debugDraw.begin(DebugDrawPrimitives.TRIS);
-        for (int i = 0; i < triangles.Length; i += 3) {
+        for (int i = 0; i < triangles.Length; i += 3)
-            for (int j = 0; j < 3; j++) {
+        {
+            for (int j = 0; j < 3; j++)
+            {
                 int v = triangles[i + j] * 3;
                 float c = gradient[triangles[i + j]];
                 int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160),
-                        (int) (127 * (1 + c)));
+                    (int)(127 * (1 + c)));
                 debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
             }
         }
+
         debugDraw.end();
     }
-
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/ColliderGizmo.cs

@@ -2,7 +2,7 @@ using DotRecast.Recast.Demo.Draw;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-public interface ColliderGizmo {
+public interface ColliderGizmo
-
+{
     void render(RecastDebugDraw debugDraw);
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/CompositeGizmo.cs

@@ -3,15 +3,17 @@ using DotRecast.Recast.Demo.Draw;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-public class CompositeGizmo : ColliderGizmo {
+public class CompositeGizmo : ColliderGizmo
-
+{
     private readonly ColliderGizmo[] gizmos;
 
-    public CompositeGizmo(params ColliderGizmo[] gizmos) {
+    public CompositeGizmo(params ColliderGizmo[] gizmos)
+    {
         this.gizmos = gizmos;
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
+    {
         gizmos.forEach(g => g.render(debugDraw));
     }
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs

@@ -6,16 +6,20 @@ using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-
+public class CylinderGizmo : ColliderGizmo
-public class CylinderGizmo : ColliderGizmo {
+{
     private readonly float[] vertices;
     private readonly int[] triangles;
     private readonly float[] center;
     private readonly float[] gradient;
 
-    public CylinderGizmo(float[] start, float[] end, float radius) {
+    public CylinderGizmo(float[] start, float[] end, float radius)
-        center = new float[] { 0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]),
+    {
-                0.5f * (start[2] + end[2]) };
+        center = new float[]
+        {
+            0.5f * (start[0] + end[0]), 0.5f * (start[1] + end[1]),
+            0.5f * (start[2] + end[2])
+        };
         float[] axis = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
         float[][] normals = new float[3][];
         normals[1] = new float[] { end[0] - start[0], end[1] - start[1], end[2] - start[2] };
@@ -32,7 +36,8 @@ public class CylinderGizmo : ColliderGizmo {
         float halfLength = 0.5f * vLen(axis);
         gradient = new float[vertices.Length / 3];
         float[] v = new float[3];
-        for (int i = 0; i < vertices.Length; i += 3) {
+        for (int i = 0; i < vertices.Length; i += 3)
+        {
             float offset = (i >= vertices.Length / 2) ? -halfLength : halfLength;
             float x = radius * vertices[i];
             float y = vertices[i + 1] + offset;
@@ -40,9 +45,12 @@ public class CylinderGizmo : ColliderGizmo {
             vertices[i] = x * trX[0] + y * trX[1] + z * trX[2] + center[0];
             vertices[i + 1] = x * trY[0] + y * trY[1] + z * trY[2] + center[1];
             vertices[i + 2] = x * trZ[0] + y * trZ[1] + z * trZ[2] + center[2];
-            if (i < vertices.Length / 4 || i >= 3 * vertices.Length / 4) {
+            if (i < vertices.Length / 4 || i >= 3 * vertices.Length / 4)
+            {
                 gradient[i / 3] = 1;
-            } else {
+            }
+            else
+            {
                 v[0] = vertices[i] - center[0];
                 v[1] = vertices[i + 1] - center[1];
                 v[2] = vertices[i + 2] - center[2];
@@ -52,11 +60,14 @@ public class CylinderGizmo : ColliderGizmo {
         }
     }
 
-    private float[] getSideVector(float[] axis) {
+    private float[] getSideVector(float[] axis)
+    {
         float[] side = { 1, 0, 0 };
-        if (axis[0] > 0.8) {
+        if (axis[0] > 0.8)
+        {
             side = new float[] { 0, 0, 1 };
         }
+
         float[] forward = new float[3];
         cross(forward, side, axis);
         cross(side, axis, forward);
@@ -64,19 +75,21 @@ public class CylinderGizmo : ColliderGizmo {
         return side;
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
-
+    {
         debugDraw.begin(DebugDrawPrimitives.TRIS);
-        for (int i = 0; i < triangles.Length; i += 3) {
+        for (int i = 0; i < triangles.Length; i += 3)
-            for (int j = 0; j < 3; j++) {
+        {
+            for (int j = 0; j < 3; j++)
+            {
                 int v = triangles[i + j] * 3;
                 float c = gradient[triangles[i + j]];
                 int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160),
-                        (int) (127 * (1 + c)));
+                    (int)(127 * (1 + c)));
                 debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
             }
         }
+
         debugDraw.end();
     }
-
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoFactory.cs

@@ -2,27 +2,33 @@
 
 public static class GizmoFactory
 {
-    public static ColliderGizmo box(float[] center, float[][] halfEdges) {
+    public static ColliderGizmo box(float[] center, float[][] halfEdges)
+    {
         return new BoxGizmo(center, halfEdges);
     }
 
-    public static ColliderGizmo sphere(float[] center, float radius) {
+    public static ColliderGizmo sphere(float[] center, float radius)
+    {
         return new SphereGizmo(center, radius);
     }
 
-    public static ColliderGizmo capsule(float[] start, float[] end, float radius) {
+    public static ColliderGizmo capsule(float[] start, float[] end, float radius)
+    {
         return new CapsuleGizmo(start, end, radius);
     }
 
-    public static ColliderGizmo cylinder(float[] start, float[] end, float radius) {
+    public static ColliderGizmo cylinder(float[] start, float[] end, float radius)
+    {
         return new CylinderGizmo(start, end, radius);
     }
 
-    public static ColliderGizmo trimesh(float[] verts, int[] faces) {
+    public static ColliderGizmo trimesh(float[] verts, int[] faces)
+    {
         return new TrimeshGizmo(verts, faces);
     }
 
-    public static ColliderGizmo composite(params ColliderGizmo[] gizmos) {
+    public static ColliderGizmo composite(params ColliderGizmo[] gizmos)
+    {
         return new CompositeGizmo(gizmos);
     }
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs

@@ -4,31 +4,37 @@ using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-public class GizmoHelper {
+public class GizmoHelper
-
+{
     private static readonly int SEGMENTS = 16;
     private static readonly int RINGS = 8;
 
     private static float[] sphericalVertices;
 
-    public static float[] generateSphericalVertices() {
+    public static float[] generateSphericalVertices()
-        if (sphericalVertices == null) {
+    {
+        if (sphericalVertices == null)
+        {
             sphericalVertices = generateSphericalVertices(SEGMENTS, RINGS);
         }
+
         return sphericalVertices;
     }
 
-    private static float[] generateSphericalVertices(int segments, int rings) {
+    private static float[] generateSphericalVertices(int segments, int rings)
+    {
         float[] vertices = new float[6 + 3 * (segments + 1) * (rings + 1)];
         // top
         int vi = 0;
         vertices[vi++] = 0;
         vertices[vi++] = 1;
         vertices[vi++] = 0;
-        for (int r = 0; r <= rings; r++) {
+        for (int r = 0; r <= rings; r++)
+        {
             double theta = Math.PI * (r + 1) / (rings + 2);
             vi = generateRingVertices(segments, vertices, vi, theta);
         }
+
         // bottom
         vertices[vi++] = 0;
         vertices[vi++] = -1;
@@ -36,39 +42,47 @@ public class GizmoHelper {
         return vertices;
     }
 
-    public static float[] generateCylindricalVertices() {
+    public static float[] generateCylindricalVertices()
+    {
         return generateCylindricalVertices(SEGMENTS);
     }
 
-    private static float[] generateCylindricalVertices(int segments) {
+    private static float[] generateCylindricalVertices(int segments)
+    {
         float[] vertices = new float[3 * (segments + 1) * 4];
         int vi = 0;
-        for (int r = 0; r < 4; r++) {
+        for (int r = 0; r < 4; r++)
+        {
             vi = generateRingVertices(segments, vertices, vi, Math.PI * 0.5);
         }
-        return vertices;
 
+        return vertices;
     }
 
-    private static int generateRingVertices(int segments, float[] vertices, int vi, double theta) {
+    private static int generateRingVertices(int segments, float[] vertices, int vi, double theta)
+    {
         double cosTheta = Math.Cos(theta);
         double sinTheta = Math.Sin(theta);
-        for (int p = 0; p <= segments; p++) {
+        for (int p = 0; p <= segments; p++)
+        {
             double phi = 2 * Math.PI * p / segments;
             double cosPhi = Math.Cos(phi);
             double sinPhi = Math.Sin(phi);
-            vertices[vi++] = (float) (sinTheta * cosPhi);
+            vertices[vi++] = (float)(sinTheta * cosPhi);
-            vertices[vi++] = (float) cosTheta;
+            vertices[vi++] = (float)cosTheta;
-            vertices[vi++] = (float) (sinTheta * sinPhi);
+            vertices[vi++] = (float)(sinTheta * sinPhi);
         }
+
         return vi;
     }
 
-    public static int[] generateSphericalTriangles() {
+    public static int[] generateSphericalTriangles()
+    {
         return generateSphericalTriangles(SEGMENTS, RINGS);
     }
 
-    private static int[] generateSphericalTriangles(int segments, int rings) {
+    private static int[] generateSphericalTriangles(int segments, int rings)
+    {
         int[] triangles = new int[6 * (segments + rings * (segments + 1))];
         int ti = generateSphereUpperCapTriangles(segments, triangles, 0);
         ti = generateRingTriangles(segments, rings, triangles, 1, ti);
@@ -76,9 +90,12 @@ public class GizmoHelper {
         return triangles;
     }
 
-    public static int generateRingTriangles(int segments, int rings, int[] triangles, int vertexOffset, int ti) {
+    public static int generateRingTriangles(int segments, int rings, int[] triangles, int vertexOffset, int ti)
-        for (int r = 0; r < rings; r++) {
+    {
-            for (int p = 0; p < segments; p++) {
+        for (int r = 0; r < rings; r++)
+        {
+            for (int p = 0; p < segments; p++)
+            {
                 int current = p + r * (segments + 1) + vertexOffset;
                 int next = p + 1 + r * (segments + 1) + vertexOffset;
                 int currentBottom = p + (r + 1) * (segments + 1) + vertexOffset;
@@ -91,32 +108,40 @@ public class GizmoHelper {
                 triangles[ti++] = currentBottom;
             }
         }
+
         return ti;
     }
 
-    private static int generateSphereUpperCapTriangles(int segments, int[] triangles, int ti) {
+    private static int generateSphereUpperCapTriangles(int segments, int[] triangles, int ti)
-        for (int p = 0; p < segments; p++) {
+    {
+        for (int p = 0; p < segments; p++)
+        {
             triangles[ti++] = p + 2;
             triangles[ti++] = p + 1;
             triangles[ti++] = 0;
         }
+
         return ti;
     }
 
-    private static void generateSphereLowerCapTriangles(int segments, int rings, int[] triangles, int ti) {
+    private static void generateSphereLowerCapTriangles(int segments, int rings, int[] triangles, int ti)
+    {
         int lastVertex = 1 + (segments + 1) * (rings + 1);
-        for (int p = 0; p < segments; p++) {
+        for (int p = 0; p < segments; p++)
+        {
             triangles[ti++] = lastVertex;
             triangles[ti++] = lastVertex - (p + 2);
             triangles[ti++] = lastVertex - (p + 1);
         }
     }
 
-    public static int[] generateCylindricalTriangles() {
+    public static int[] generateCylindricalTriangles()
+    {
         return generateCylindricalTriangles(SEGMENTS);
     }
 
-    private static int[] generateCylindricalTriangles(int segments) {
+    private static int[] generateCylindricalTriangles(int segments)
+    {
         int circleTriangles = segments - 2;
         int[] triangles = new int[6 * (circleTriangles + (segments + 1))];
         int vi = 0;
@@ -127,36 +152,44 @@ public class GizmoHelper {
         return triangles;
     }
 
-    private static int generateCircleTriangles(int segments, int[] triangles, int vi, int ti, bool invert) {
+    private static int generateCircleTriangles(int segments, int[] triangles, int vi, int ti, bool invert)
-        for (int p = 0; p < segments - 2; p++) {
+    {
-            if (invert) {
+        for (int p = 0; p < segments - 2; p++)
+        {
+            if (invert)
+            {
                 triangles[ti++] = vi;
                 triangles[ti++] = vi + p + 1;
                 triangles[ti++] = vi + p + 2;
-            } else {
+            }
+            else
+            {
                 triangles[ti++] = vi + p + 2;
                 triangles[ti++] = vi + p + 1;
                 triangles[ti++] = vi;
             }
         }
+
         return ti;
     }
 
-    public static int getColorByNormal(float[] vertices, int v0, int v1, int v2) {
+    public static int getColorByNormal(float[] vertices, int v0, int v1, int v2)
+    {
         float[] e0 = new float[3], e1 = new float[3];
         float[] normal = new float[3];
-        for (int j = 0; j < 3; ++j) {
+        for (int j = 0; j < 3; ++j)
+        {
             e0[j] = vertices[v1 + j] - vertices[v0 + j];
             e1[j] = vertices[v2 + j] - vertices[v0 + j];
         }
+
         normal[0] = e0[1] * e1[2] - e0[2] * e1[1];
         normal[1] = e0[2] * e1[0] - e0[0] * e1[2];
         normal[2] = e0[0] * e1[1] - e0[1] * e1[0];
         RecastVectors.normalize(normal);
         float c = clamp(0.57735026f * (normal[0] + normal[1] + normal[2]), -1, 1);
         int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160),
-                (int) (127 * (1 + c)));
+            (int)(127 * (1 + c)));
         return col;
     }
-
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs

@@ -1,38 +1,41 @@
 using DotRecast.Recast.Demo.Draw;
-
 using static DotRecast.Detour.DetourCommon;
 using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-
+public class SphereGizmo : ColliderGizmo
-public class SphereGizmo : ColliderGizmo {
+{
     private readonly float[] vertices;
     private readonly int[] triangles;
     private readonly float radius;
     private readonly float[] center;
 
-    public SphereGizmo(float[] center, float radius) {
+    public SphereGizmo(float[] center, float radius)
+    {
         this.center = center;
         this.radius = radius;
         vertices = generateSphericalVertices();
         triangles = generateSphericalTriangles();
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
+    {
         debugDraw.begin(DebugDrawPrimitives.TRIS);
-        for (int i = 0; i < triangles.Length; i += 3) {
+        for (int i = 0; i < triangles.Length; i += 3)
-            for (int j = 0; j < 3; j++) {
+        {
+            for (int j = 0; j < 3; j++)
+            {
                 int v = triangles[i + j] * 3;
                 float c = clamp(0.57735026f * (vertices[v] + vertices[v + 1] + vertices[v + 2]), -1, 1);
                 int col = DebugDraw.duLerpCol(DebugDraw.duRGBA(32, 32, 0, 160), DebugDraw.duRGBA(220, 220, 0, 160),
-                    (int) (127 * (1 + c)));
+                    (int)(127 * (1 + c)));
                 debugDraw.vertex(radius * vertices[v] + center[0], radius * vertices[v + 1] + center[1],
                     radius * vertices[v + 2] + center[2], col);
             }
         }
+
         debugDraw.end();
     }
-
 }

src/DotRecast.Recast.Demo/Tools/Gizmos/TrimeshGizmo.cs

@@ -2,18 +2,22 @@
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 
-public class TrimeshGizmo : ColliderGizmo {
+public class TrimeshGizmo : ColliderGizmo
+{
     private readonly float[] vertices;
     private readonly int[] triangles;
 
-    public TrimeshGizmo(float[] vertices, int[] triangles) {
+    public TrimeshGizmo(float[] vertices, int[] triangles)
+    {
         this.vertices = vertices;
         this.triangles = triangles;
     }
 
-    public void render(RecastDebugDraw debugDraw) {
+    public void render(RecastDebugDraw debugDraw)
+    {
         debugDraw.begin(DebugDrawPrimitives.TRIS);
-        for (int i = 0; i < triangles.Length; i += 3) {
+        for (int i = 0; i < triangles.Length; i += 3)
+        {
             int v0 = 3 * triangles[i];
             int v1 = 3 * triangles[i + 1];
             int v2 = 3 * triangles[i + 2];
@@ -22,7 +26,7 @@ public class TrimeshGizmo : ColliderGizmo {
             debugDraw.vertex(vertices[v1], vertices[v1 + 1], vertices[v1 + 2], col);
             debugDraw.vertex(vertices[v2], vertices[v2 + 1], vertices[v2 + 2], col);
         }
+
         debugDraw.end();
     }
-
 }

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

@@ -22,60 +22,69 @@ using DotRecast.Detour.Extras.Jumplink;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Demo.Geom;
-
 using static DotRecast.Detour.DetourCommon;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class JumpLinkBuilderTool : Tool {
+public class JumpLinkBuilderTool : Tool
-
+{
     private readonly List<JumpLink> links = new();
     private Sample sample;
     private JumpLinkBuilder annotationBuilder;
     private readonly int selEdge = -1;
     private readonly JumpLinkBuilderToolParams option = new JumpLinkBuilderToolParams();
 
-    public override void setSample(Sample sample) {
+    public override void setSample(Sample sample)
+    {
         this.sample = sample;
         annotationBuilder = null;
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
-
+    {
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
+    {
         int col0 = duLerpCol(duRGBA(32, 255, 96, 255), duRGBA(255, 255, 255, 255), 200);
         int col1 = duRGBA(32, 255, 96, 255);
         RecastDebugDraw dd = renderer.getDebugDraw();
         dd.depthMask(false);
 
-        if ((option.flags & JumpLinkBuilderToolParams.DRAW_WALKABLE_BORDER) != 0) {
+        if ((option.flags & JumpLinkBuilderToolParams.DRAW_WALKABLE_BORDER) != 0)
-            if (annotationBuilder != null) {
+        {
-                foreach (Edge[] edges in annotationBuilder.getEdges()) {
+            if (annotationBuilder != null)
+            {
+                foreach (Edge[] edges in annotationBuilder.getEdges())
+                {
                     dd.begin(LINES, 3.0f);
-                    for (int i = 0; i < edges.Length; ++i) {
+                    for (int i = 0; i < edges.Length; ++i)
+                    {
                         int col = duRGBA(0, 96, 128, 255);
                         if (i == selEdge)
                             continue;
                         dd.vertex(edges[i].sp, col);
                         dd.vertex(edges[i].sq, col);
                     }
+
                     dd.end();
 
                     dd.begin(POINTS, 8.0f);
-                    for (int i = 0; i < edges.Length; ++i) {
+                    for (int i = 0; i < edges.Length; ++i)
+                    {
                         int col = duRGBA(0, 96, 128, 255);
                         if (i == selEdge)
                             continue;
                         dd.vertex(edges[i].sp, col);
                         dd.vertex(edges[i].sq, col);
                     }
+
                     dd.end();
 
-                    if (selEdge >= 0 && selEdge < edges.Length) {
+                    if (selEdge >= 0 && selEdge < edges.Length)
+                    {
                         int col = duRGBA(48, 16, 16, 255); // duRGBA(255,192,0,255);
                         dd.begin(LINES, 3.0f);
                         dd.vertex(edges[selEdge].sp, col);
@@ -88,20 +97,25 @@ public class JumpLinkBuilderTool : Tool {
                     }
 
                     dd.begin(POINTS, 4.0f);
-                    for (int i = 0; i < edges.Length; ++i) {
+                    for (int i = 0; i < edges.Length; ++i)
+                    {
                         int col = duRGBA(190, 190, 190, 255);
                         dd.vertex(edges[i].sp, col);
                         dd.vertex(edges[i].sq, col);
                     }
+
                     dd.end();
                 }
             }
         }
 
-        if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANNOTATIONS) != 0) {
+        if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANNOTATIONS) != 0)
+        {
             dd.begin(QUADS);
-            foreach (JumpLink link in links) {
+            foreach (JumpLink link in links)
-                for (int j = 0; j < link.nspine - 1; ++j) {
+            {
+                for (int j = 0; j < link.nspine - 1; ++j)
+                {
                     int u = (j * 255) / link.nspine;
                     int col = duTransCol(duLerpCol(col0, col1, u), 128);
                     dd.vertex(link.spine1[j * 3], link.spine1[j * 3 + 1], link.spine1[j * 3 + 2], col);
@@ -112,12 +126,15 @@ public class JumpLinkBuilderTool : Tool {
                     dd.vertex(link.spine0[j * 3], link.spine0[j * 3 + 1], link.spine0[j * 3 + 2], col);
                 }
             }
+
             dd.end();
             dd.begin(LINES, 3.0f);
-            foreach (JumpLink link in links) {
+            foreach (JumpLink link in links)
-                for (int j = 0; j < link.nspine - 1; ++j) {
+            {
+                for (int j = 0; j < link.nspine - 1; ++j)
+                {
                     // int u = (j*255)/link.nspine;
-                    int col = duTransCol(duDarkenCol(col1)/*duDarkenCol(duLerpCol(col0,col1,u))*/, 128);
+                    int col = duTransCol(duDarkenCol(col1) /*duDarkenCol(duLerpCol(col0,col1,u))*/, 128);
 
                     dd.vertex(link.spine0[j * 3], link.spine0[j * 3 + 1], link.spine0[j * 3 + 2], col);
                     dd.vertex(link.spine0[(j + 1) * 3], link.spine0[(j + 1) * 3 + 1], link.spine0[(j + 1) * 3 + 2],
@@ -135,11 +152,16 @@ public class JumpLinkBuilderTool : Tool {
                 dd.vertex(link.spine1[(link.nspine - 1) * 3], link.spine1[(link.nspine - 1) * 3 + 1],
                     link.spine1[(link.nspine - 1) * 3 + 2], duDarkenCol(col1));
             }
+
             dd.end();
         }
-        if (annotationBuilder != null) {
+
-            foreach (JumpLink link in links) {
+        if (annotationBuilder != null)
-                if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANIM_TRAJECTORY) != 0) {
+        {
+            foreach (JumpLink link in links)
+            {
+                if ((option.flags & JumpLinkBuilderToolParams.DRAW_ANIM_TRAJECTORY) != 0)
+                {
                     float r = link.start.height;
 
                     int col = duLerpCol(duRGBA(255, 192, 0, 255),
@@ -203,84 +225,104 @@ public class JumpLinkBuilderTool : Tool {
                     dd.vertex(end.q, colm);
                     dd.end();
                 }
-                if ((option.flags & JumpLinkBuilderToolParams.DRAW_LAND_SAMPLES) != 0) {
+
+                if ((option.flags & JumpLinkBuilderToolParams.DRAW_LAND_SAMPLES) != 0)
+                {
                     dd.begin(POINTS, 8.0f);
-                    for (int i = 0; i < link.start.gsamples.Length; ++i) {
+                    for (int i = 0; i < link.start.gsamples.Length; ++i)
+                    {
                         GroundSample s = link.start.gsamples[i];
-                        float u = i / (float) (link.start.gsamples.Length - 1);
+                        float u = i / (float)(link.start.gsamples.Length - 1);
                         float[] spt = vLerp(link.start.p, link.start.q, u);
                         int col = duRGBA(48, 16, 16, 255); // duRGBA(255,(s->flags & 4)?255:0,0,255);
                         float off = 0.1f;
-                        if (!s.validHeight) {
+                        if (!s.validHeight)
+                        {
                             off = 0;
                             col = duRGBA(220, 32, 32, 255);
                         }
+
                         spt[1] = s.p[1] + off;
                         dd.vertex(spt, col);
                     }
+
                     dd.end();
 
                     dd.begin(POINTS, 4.0f);
-                    for (int i = 0; i < link.start.gsamples.Length; ++i) {
+                    for (int i = 0; i < link.start.gsamples.Length; ++i)
+                    {
                         GroundSample s = link.start.gsamples[i];
-                        float u = i / (float) (link.start.gsamples.Length - 1);
+                        float u = i / (float)(link.start.gsamples.Length - 1);
                         float[] spt = vLerp(link.start.p, link.start.q, u);
                         int col = duRGBA(255, 255, 255, 255);
                         float off = 0;
-                        if (s.validHeight) {
+                        if (s.validHeight)
+                        {
                             off = 0.1f;
                         }
+
                         spt[1] = s.p[1] + off;
                         dd.vertex(spt, col);
                     }
+
                     dd.end();
                     {
                         GroundSegment end = link.end;
                         dd.begin(POINTS, 8.0f);
-                        for (int i = 0; i < end.gsamples.Length; ++i) {
+                        for (int i = 0; i < end.gsamples.Length; ++i)
+                        {
                             GroundSample s = end.gsamples[i];
-                            float u = i / (float) (end.gsamples.Length - 1);
+                            float u = i / (float)(end.gsamples.Length - 1);
                             float[] spt = vLerp(end.p, end.q, u);
                             int col = duRGBA(48, 16, 16, 255); // duRGBA(255,(s->flags & 4)?255:0,0,255);
                             float off = 0.1f;
-                            if (!s.validHeight) {
+                            if (!s.validHeight)
+                            {
                                 off = 0;
                                 col = duRGBA(220, 32, 32, 255);
                             }
+
                             spt[1] = s.p[1] + off;
                             dd.vertex(spt, col);
                         }
+
                         dd.end();
                         dd.begin(POINTS, 4.0f);
-                        for (int i = 0; i < end.gsamples.Length; ++i) {
+                        for (int i = 0; i < end.gsamples.Length; ++i)
+                        {
                             GroundSample s = end.gsamples[i];
-                            float u = i / (float) (end.gsamples.Length - 1);
+                            float u = i / (float)(end.gsamples.Length - 1);
                             float[] spt = vLerp(end.p, end.q, u);
                             int col = duRGBA(255, 255, 255, 255);
                             float off = 0;
-                            if (s.validHeight) {
+                            if (s.validHeight)
+                            {
                                 off = 0.1f;
                             }
+
                             spt[1] = s.p[1] + off;
                             dd.vertex(spt, col);
                         }
+
                         dd.end();
                     }
                 }
             }
         }
+
         dd.depthMask(true);
     }
 
-    private void drawTrajectory(RecastDebugDraw dd, JumpLink link, float[] pa, float[] pb, Trajectory tra, int cola) {
+    private void drawTrajectory(RecastDebugDraw dd, JumpLink link, float[] pa, float[] pb, Trajectory tra, int cola)
-
+    {
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
-
+    {
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
+    {
         // if (!sample.getRecastResults().isEmpty()) {
         //
         //     nk_layout_row_dynamic(ctx, 18, 1);
@@ -403,25 +445,27 @@ public class JumpLinkBuilderTool : Tool {
         //                     : 0;
         //     params.flags = newFlags;
         // }
-
     }
 
-    private void addOffMeshLink(JumpLink link, DemoInputGeomProvider geom, float agentRadius) {
+    private void addOffMeshLink(JumpLink link, DemoInputGeomProvider geom, float agentRadius)
+    {
         int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP_AUTO;
         int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP;
         float[] prev = new float[3];
-        for (int i = 0; i < link.startSamples.Length; i++) {
+        for (int i = 0; i < link.startSamples.Length; i++)
+        {
             float[] p = link.startSamples[i].p;
             float[] q = link.endSamples[i].p;
-            if (i == 0 || vDist2D(prev, p) > agentRadius) {
+            if (i == 0 || vDist2D(prev, p) > agentRadius)
+            {
                 geom.addOffMeshConnection(p, q, agentRadius, false, area, flags);
                 prev = p;
             }
         }
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Annotation Builder";
     }
-
 }

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

@@ -20,9 +20,8 @@ using DotRecast.Detour.Extras.Jumplink;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-
+public class JumpLinkBuilderToolParams
-public class JumpLinkBuilderToolParams {
+{
-
     public const int DRAW_WALKABLE_SURFACE = 1 << 0;
     public const int DRAW_WALKABLE_BORDER = 1 << 1;
     public const int DRAW_SELECTED_EDGE = 1 << 2;
@@ -41,5 +40,4 @@ public class JumpLinkBuilderToolParams {
     public readonly float[] edgeJumpDownMaxHeight = new[] { 2.5f };
     public readonly float[] edgeJumpUpMaxHeight = new[] { 0.3f };
     public int buildTypes = (1 << (int)JumpLinkType.EDGE_CLIMB_DOWN) | (1 << (int)JumpLinkType.EDGE_JUMP);
-
 }

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

@@ -24,87 +24,106 @@ using DotRecast.Core;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Demo.Geom;
-
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 
 namespace DotRecast.Recast.Demo.Tools;
-public class OffMeshConnectionTool : Tool {
 
+public class OffMeshConnectionTool : Tool
+{
     private Sample sample;
     private bool hitPosSet;
     private float[] hitPos;
     private bool bidir;
 
-    public override void setSample(Sample m_sample) {
+    public override void setSample(Sample m_sample)
+    {
         sample = m_sample;
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
+    {
         DemoInputGeomProvider geom = sample.getInputGeom();
-        if (geom == null) {
+        if (geom == null)
+        {
             return;
         }
 
-        if (shift) {
+        if (shift)
+        {
             // Delete
             // Find nearest link end-point
             float nearestDist = float.MaxValue;
             DemoOffMeshConnection nearestConnection = null;
-            foreach (DemoOffMeshConnection offMeshCon in geom.getOffMeshConnections()) {
+            foreach (DemoOffMeshConnection offMeshCon in geom.getOffMeshConnections())
+            {
                 float d = Math.Min(DemoMath.vDistSqr(p, offMeshCon.verts, 0), DemoMath.vDistSqr(p, offMeshCon.verts, 3));
-                if (d < nearestDist && Math.Sqrt(d) < sample.getSettingsUI().getAgentRadius()) {
+                if (d < nearestDist && Math.Sqrt(d) < sample.getSettingsUI().getAgentRadius())
+                {
                     nearestDist = d;
                     nearestConnection = offMeshCon;
                 }
             }
-            if (nearestConnection != null) {
+
+            if (nearestConnection != null)
+            {
                 geom.getOffMeshConnections().Remove(nearestConnection);
             }
-        } else {
+        }
+        else
+        {
             // Create
-            if (!hitPosSet) {
+            if (!hitPosSet)
+            {
                 hitPos = ArrayUtils.CopyOf(p, p.Length);
                 hitPosSet = true;
-            } else {
+            }
+            else
+            {
                 int area = SampleAreaModifications.SAMPLE_POLYAREA_TYPE_JUMP;
                 int flags = SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP;
                 geom.addOffMeshConnection(hitPos, p, sample.getSettingsUI().getAgentRadius(), bidir, area, flags);
                 hitPosSet = false;
             }
         }
-
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
-        if (sample == null) {
+    {
+        if (sample == null)
+        {
             return;
         }
+
         RecastDebugDraw dd = renderer.getDebugDraw();
         float s = sample.getSettingsUI().getAgentRadius();
 
-        if (hitPosSet) {
+        if (hitPosSet)
+        {
             dd.debugDrawCross(hitPos[0], hitPos[1] + 0.1f, hitPos[2], s, duRGBA(0, 0, 0, 128), 2.0f);
         }
+
         DemoInputGeomProvider geom = sample.getInputGeom();
-        if (geom != null) {
+        if (geom != null)
+        {
             renderer.drawOffMeshConnections(geom, true);
         }
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
+    {
         // nk_layout_row_dynamic(ctx, 20, 1);
         // bidir = !nk_option_label(ctx, "One Way", !bidir);
         // nk_layout_row_dynamic(ctx, 20, 1);
         // bidir = nk_option_label(ctx, "Bidirectional", bidir);
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Create Off-Mesh Links";
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
+    {
         // TODO Auto-generated method stub
-
     }
-
 }

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

@@ -24,22 +24,25 @@ using DotRecast.Detour;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-
+public static class PathUtils
-public static class PathUtils {
+{
-
     private readonly static int MAX_STEER_POINTS = 3;
 
 
     public static SteerTarget getSteerTarget(NavMeshQuery navQuery, float[] startPos, float[] endPos,
-            float minTargetDist, List<long> path) {
+        float minTargetDist, List<long> path)
+    {
         // Find steer target.
         Result<List<StraightPathItem>> result = navQuery.findStraightPath(startPos, endPos, path, MAX_STEER_POINTS, 0);
-        if (result.failed()) {
+        if (result.failed())
+        {
             return null;
         }
+
         List<StraightPathItem> straightPath = result.result;
         float[] steerPoints = new float[straightPath.Count * 3];
-        for (int i = 0; i < straightPath.Count; i++) {
+        for (int i = 0; i < straightPath.Count; i++)
+        {
             steerPoints[i * 3] = straightPath[i].getPos()[0];
             steerPoints[i * 3 + 1] = straightPath[i].getPos()[1];
             steerPoints[i * 3 + 2] = straightPath[i].getPos()[2];
@@ -47,48 +50,58 @@ public static class PathUtils {
 
         // Find vertex far enough to steer to.
         int ns = 0;
-        while (ns < straightPath.Count) {
+        while (ns < straightPath.Count)
+        {
             // Stop at Off-Mesh link or when point is further than slop away.
             if (((straightPath[ns].getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 || !inRange(straightPath[ns].getPos(), startPos, minTargetDist, 1000.0f))
                 break;
             ns++;
         }
+
         // Failed to find good point to steer to.
         if (ns >= straightPath.Count)
             return null;
 
-        float[] steerPos = new float[] { straightPath[ns].getPos()[0], startPos[1],
+        float[] steerPos = new float[]
-                straightPath[ns].getPos()[2] };
+        {
+            straightPath[ns].getPos()[0], startPos[1],
+            straightPath[ns].getPos()[2]
+        };
         int steerPosFlag = straightPath[ns].getFlags();
         long steerPosRef = straightPath[ns].getRef();
 
         SteerTarget target = new SteerTarget(steerPos, steerPosFlag, steerPosRef, steerPoints);
         return target;
-
     }
 
-    public static bool inRange(float[] v1, float[] v2, float r, float h) {
+    public static bool inRange(float[] v1, float[] v2, float r, float h)
+    {
         float dx = v2[0] - v1[0];
         float dy = v2[1] - v1[1];
         float dz = v2[2] - v1[2];
         return (dx * dx + dz * dz) < r * r && Math.Abs(dy) < h;
     }
 
-    public static List<long> fixupCorridor(List<long> path, List<long> visited) {
+    public static List<long> fixupCorridor(List<long> path, List<long> visited)
+    {
         int furthestPath = -1;
         int furthestVisited = -1;
 
         // Find furthest common polygon.
-        for (int i = path.Count - 1; i >= 0; --i) {
+        for (int i = path.Count - 1; i >= 0; --i)
+        {
             bool found = false;
-            for (int j = visited.Count - 1; j >= 0; --j) {
+            for (int j = visited.Count - 1; j >= 0; --j)
-                if (path[i] == visited[j]) {
+            {
+                if (path[i] == visited[j])
+                {
                     furthestPath = i;
                     furthestVisited = j;
                     found = true;
                 }
             }
+
             if (found)
                 break;
         }
@@ -105,10 +118,13 @@ public static class PathUtils {
         int size = Math.Max(0, path.Count - orig);
         List<long> fixupPath = new();
         // Store visited
-        for (int i = 0; i < req; ++i) {
+        for (int i = 0; i < req; ++i)
+        {
             fixupPath.Add(visited[(visited.Count - 1) - i]);
         }
-        for (int i = 0; i < size; i++) {
+
+        for (int i = 0; i < size; i++)
+        {
             fixupPath.Add(path[orig + i]);
         }
 
@@ -126,8 +142,10 @@ public static class PathUtils {
     // +-S-+-T-+
     // |:::| | <-- the step can end up in here, resulting U-turn path.
     // +---+---+
-    public static List<long> fixupShortcuts(List<long> path, NavMeshQuery navQuery) {
+    public static List<long> fixupShortcuts(List<long> path, NavMeshQuery navQuery)
-        if (path.Count < 3) {
+    {
+        if (path.Count < 3)
+        {
             return path;
         }
 
@@ -135,15 +153,19 @@ public static class PathUtils {
         List<long> neis = new();
 
         Result<Tuple<MeshTile, Poly>> tileAndPoly = navQuery.getAttachedNavMesh().getTileAndPolyByRef(path[0]);
-        if (tileAndPoly.failed()) {
+        if (tileAndPoly.failed())
+        {
             return path;
         }
+
         MeshTile tile = tileAndPoly.result.Item1;
         Poly poly = tileAndPoly.result.Item2;
 
-        for (int k = tile.polyLinks[poly.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next) {
+        for (int k = tile.polyLinks[poly.index]; k != NavMesh.DT_NULL_LINK; k = tile.links[k].next)
+        {
             Link link = tile.links[k];
-            if (link.refs != 0) {
+            if (link.refs != 0)
+            {
                 neis.Add(link.refs);
             }
         }
@@ -152,21 +174,26 @@ public static class PathUtils {
         // in the path, short cut to that polygon directly.
         int maxLookAhead = 6;
         int cut = 0;
-        for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--) {
+        for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--)
-            for (int j = 0; j < neis.Count; j++) {
+        {
-                if (path[i] == neis[j]) {
+            for (int j = 0; j < neis.Count; j++)
+            {
+                if (path[i] == neis[j])
+                {
                     cut = i;
                     break;
                 }
             }
         }
-        if (cut > 1) {
+
+        if (cut > 1)
+        {
             List<long> shortcut = new();
             shortcut.Add(path[0]);
             shortcut.AddRange(path.GetRange(cut, path.Count - cut));
             return shortcut;
         }
+
         return path;
     }
-
 }

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

@@ -21,28 +21,34 @@ using System;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class PolyUtils {
+public class PolyUtils
-
+{
-    public static bool pointInPoly(float[] verts, float[] p) {
+    public static bool pointInPoly(float[] verts, float[] p)
+    {
         int i, j;
         bool c = false;
-        for (i = 0, j = verts.Length / 3 - 1; i < verts.Length / 3; j = i++) {
+        for (i = 0, j = verts.Length / 3 - 1; i < verts.Length / 3; j = i++)
+        {
             float[] vi = new float[] { verts[i * 3], verts[i * 3 + 1], verts[i * 3 + 2] };
             float[] vj = new float[] { verts[j * 3], verts[j * 3 + 1], verts[j * 3 + 2] };
             if (((vi[2] > p[2]) != (vj[2] > p[2]))
-                    && (p[0] < (vj[0] - vi[0]) * (p[2] - vi[2]) / (vj[2] - vi[2]) + vi[0])) {
+                && (p[0] < (vj[0] - vi[0]) * (p[2] - vi[2]) / (vj[2] - vi[2]) + vi[0]))
+            {
                 c = !c;
             }
         }
+
         return c;
     }
 
-    public static int offsetPoly(float[] verts, int nverts, float offset, float[] outVerts, int maxOutVerts) {
+    public static int offsetPoly(float[] verts, int nverts, float offset, float[] outVerts, int maxOutVerts)
+    {
         float MITER_LIMIT = 1.20f;
 
         int n = 0;
 
-        for (int i = 0; i < nverts; i++) {
+        for (int i = 0; i < nverts; i++)
+        {
             int a = (i + nverts - 1) % nverts;
             int b = i;
             int c = (i + 1) % nverts;
@@ -52,19 +58,23 @@ public class PolyUtils {
             float dx0 = verts[vb] - verts[va];
             float dy0 = verts[vb + 2] - verts[va + 2];
             float d0 = dx0 * dx0 + dy0 * dy0;
-            if (d0 > 1e-6f) {
+            if (d0 > 1e-6f)
-                d0 = (float) (1.0f / Math.Sqrt(d0));
+            {
+                d0 = (float)(1.0f / Math.Sqrt(d0));
                 dx0 *= d0;
                 dy0 *= d0;
             }
+
             float dx1 = verts[vc] - verts[vb];
             float dy1 = verts[vc + 2] - verts[vb + 2];
             float d1 = dx1 * dx1 + dy1 * dy1;
-            if (d1 > 1e-6f) {
+            if (d1 > 1e-6f)
-                d1 = (float) (1.0f / Math.Sqrt(d1));
+            {
+                d1 = (float)(1.0f / Math.Sqrt(d1));
                 dx1 *= d1;
                 dy1 *= d1;
             }
+
             float dlx0 = -dy0;
             float dly0 = dx0;
             float dlx1 = -dy1;
@@ -74,16 +84,20 @@ public class PolyUtils {
             float dmy = (dly0 + dly1) * 0.5f;
             float dmr2 = dmx * dmx + dmy * dmy;
             bool bevel = dmr2 * MITER_LIMIT * MITER_LIMIT < 1.0f;
-            if (dmr2 > 1e-6f) {
+            if (dmr2 > 1e-6f)
+            {
                 float scale = 1.0f / dmr2;
                 dmx *= scale;
                 dmy *= scale;
             }
 
-            if (bevel && cross < 0.0f) {
+            if (bevel && cross < 0.0f)
-                if (n + 2 >= maxOutVerts) {
+            {
+                if (n + 2 >= maxOutVerts)
+                {
                     return 0;
                 }
+
                 float d = (1.0f - (dx0 * dx1 + dy0 * dy1)) * 0.5f;
                 outVerts[n * 3 + 0] = verts[vb] + (-dlx0 + dx0 * d) * offset;
                 outVerts[n * 3 + 1] = verts[vb + 1];
@@ -93,10 +107,14 @@ public class PolyUtils {
                 outVerts[n * 3 + 1] = verts[vb + 1];
                 outVerts[n * 3 + 2] = verts[vb + 2] + (-dly1 - dy1 * d) * offset;
                 n++;
-            } else {
+            }
-                if (n + 1 >= maxOutVerts) {
+            else
+            {
+                if (n + 1 >= maxOutVerts)
+                {
                     return 0;
                 }
+
                 outVerts[n * 3 + 0] = verts[vb] - dmx * offset;
                 outVerts[n * 3 + 1] = verts[vb + 1];
                 outVerts[n * 3 + 2] = verts[vb + 2] - dmy * offset;
@@ -106,5 +124,4 @@ public class PolyUtils {
 
         return n;
     }
-
 }

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

@@ -1,12 +1,14 @@
 namespace DotRecast.Recast.Demo.Tools;
 
-public class SteerTarget {
+public class SteerTarget
+{
     public readonly float[] steerPos;
     public readonly int steerPosFlag;
     public readonly long steerPosRef;
     public readonly float[] steerPoints;
 
-    public SteerTarget(float[] steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints) {
+    public SteerTarget(float[] steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints)
+    {
         this.steerPos = steerPos;
         this.steerPosFlag = steerPosFlag;
         this.steerPosRef = steerPosRef;

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

@@ -1,21 +1,18 @@
 using System;
 using System.Collections.Generic;
 using Silk.NET.Windowing;
-
 using DotRecast.Core;
 using DotRecast.Detour;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
-
 using static DotRecast.Detour.DetourCommon;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-
+public class TestNavmeshTool : Tool
-public class TestNavmeshTool : Tool {
+{
-
     private readonly static int MAX_POLYS = 256;
     private readonly static int MAX_SMOOTH = 2048;
     private Sample m_sample;
@@ -44,7 +41,8 @@ public class TestNavmeshTool : Tool {
     private readonly List<float[]> randomPoints = new();
     private bool constrainByCircle;
 
-    private enum ToolMode {
+    private enum ToolMode
+    {
         PATHFIND_FOLLOW,
         PATHFIND_STRAIGHT,
         PATHFIND_SLICED,
@@ -56,27 +54,35 @@ public class TestNavmeshTool : Tool {
         RANDOM_POINTS_IN_CIRCLE
     }
 
-    public TestNavmeshTool() {
+    public TestNavmeshTool()
+    {
         m_filter = new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
             SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 1f, 1f, 1f, 2f, 1.5f });
     }
 
-    public override void setSample(Sample m_sample) {
+    public override void setSample(Sample m_sample)
+    {
         this.m_sample = m_sample;
     }
 
-    public override void handleClick(float[] s, float[] p, bool shift) {
+    public override void handleClick(float[] s, float[] p, bool shift)
-        if (shift) {
+    {
+        if (shift)
+        {
             m_sposSet = true;
             m_spos = ArrayUtils.CopyOf(p, p.Length);
-        } else {
+        }
+        else
+        {
             m_eposSet = true;
             m_epos = ArrayUtils.CopyOf(p, p.Length);
         }
+
         recalc();
     }
 
-    public override void layout(IWindow ctx) {
+    public override void layout(IWindow ctx)
+    {
         ToolMode previousToolMode = m_toolMode;
         int previousStraightPathOptions = m_straightPathOptions;
         int previousIncludeFlags = m_filter.getIncludeFlags();
@@ -203,31 +209,46 @@ public class TestNavmeshTool : Tool {
         // }
     }
 
-    public override string getName() {
+    public override string getName()
+    {
         return "Test Navmesh";
     }
 
-    private void recalc() {
+    private void recalc()
-        if (m_sample.getNavMesh() == null) {
+    {
+        if (m_sample.getNavMesh() == null)
+        {
             return;
         }
+
         NavMeshQuery m_navQuery = m_sample.getNavMeshQuery();
-        if (m_sposSet) {
+        if (m_sposSet)
+        {
             m_startRef = m_navQuery.findNearestPoly(m_spos, m_polyPickExt, m_filter).result.getNearestRef();
-        } else {
+        }
+        else
+        {
             m_startRef = 0;
         }
-        if (m_eposSet) {
+
+        if (m_eposSet)
+        {
             m_endRef = m_navQuery.findNearestPoly(m_epos, m_polyPickExt, m_filter).result.getNearestRef();
-        } else {
+        }
+        else
+        {
             m_endRef = 0;
         }
+
         NavMesh m_navMesh = m_sample.getNavMesh();
-        if (m_toolMode == ToolMode.PATHFIND_FOLLOW) {
+        if (m_toolMode == ToolMode.PATHFIND_FOLLOW)
-            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) {
+        {
+            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
+            {
                 m_polys = m_navQuery.findPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
                     enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result;
-                if (0 < m_polys.Count) {
+                if (0 < m_polys.Count)
+                {
                     List<long> polys = new(m_polys);
                     // Iterate over the path to find smooth path on the detail mesh surface.
                     float[] iterPos = m_navQuery.closestPointOnPoly(m_startRef, m_spos).result.getClosest();
@@ -242,28 +263,37 @@ public class TestNavmeshTool : Tool {
 
                     // 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 && m_smoothPath.Count < MAX_SMOOTH) {
+                    while (0 < polys.Count && m_smoothPath.Count < MAX_SMOOTH)
+                    {
                         // Find location to steer towards.
                         SteerTarget steerTarget = PathUtils.getSteerTarget(m_navQuery, iterPos, targetPos,
                             SLOP, polys);
-                        if (null == steerTarget) {
+                        if (null == steerTarget)
+                        {
                             break;
                         }
+
                         bool endOfPath = (steerTarget.steerPosFlag & NavMeshQuery.DT_STRAIGHTPATH_END) != 0
                             ? true
                             : false;
                         bool offMeshConnection = (steerTarget.steerPosFlag
-                                & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ? true : false;
+                                                  & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
+                            ? true
+                            : false;
 
                         // Find movement delta.
                         float[] delta = vSub(steerTarget.steerPos, iterPos);
-                        float len = (float) Math.Sqrt(DemoMath.vDot(delta, delta));
+                        float len = (float)Math.Sqrt(DemoMath.vDot(delta, delta));
                         // If the steer target is end of path or off-mesh link, do not move past the location.
-                        if ((endOfPath || offMeshConnection) && len < STEP_SIZE) {
+                        if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
+                        {
                             len = 1;
-                        } else {
+                        }
+                        else
+                        {
                             len = STEP_SIZE / len;
                         }
+
                         float[] moveTgt = vMad(iterPos, delta, len);
                         // Move
                         Result<MoveAlongSurfaceResult> result = m_navQuery.moveAlongSurface(polys[0], iterPos,
@@ -280,45 +310,57 @@ public class TestNavmeshTool : Tool {
                         polys = PathUtils.fixupShortcuts(polys, m_navQuery);
 
                         Result<float> polyHeight = m_navQuery.getPolyHeight(polys[0], moveAlongSurface.getResultPos());
-                        if (polyHeight.succeeded()) {
+                        if (polyHeight.succeeded())
+                        {
                             iterPos[1] = polyHeight.result;
                         }
 
                         // Handle end of path and off-mesh links when close enough.
-                        if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f)) {
+                        if (endOfPath && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
+                        {
                             // Reached end of path.
                             vCopy(iterPos, targetPos);
-                            if (m_smoothPath.Count < MAX_SMOOTH) {
+                            if (m_smoothPath.Count < MAX_SMOOTH)
+                            {
                                 m_smoothPath.Add(iterPos);
                             }
+
                             break;
-                        } else if (offMeshConnection
+                        }
-                                && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f)) {
+                        else if (offMeshConnection
+                                 && PathUtils.inRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
+                        {
                             // Reached off-mesh connection.
                             // Advance the path up to and over the off-mesh connection.
                             long prevRef = 0;
                             long polyRef = polys[0];
                             int npos = 0;
-                            while (npos < polys.Count && polyRef != steerTarget.steerPosRef) {
+                            while (npos < polys.Count && polyRef != steerTarget.steerPosRef)
+                            {
                                 prevRef = polyRef;
                                 polyRef = polys[npos];
                                 npos++;
                             }
+
                             polys = polys.GetRange(npos, polys.Count - npos);
 
                             // Handle the connection.
                             Result<Tuple<float[], float[]>> offMeshCon = m_navMesh
                                 .getOffMeshConnectionPolyEndPoints(prevRef, polyRef);
-                            if (offMeshCon.succeeded()) {
+                            if (offMeshCon.succeeded())
+                            {
                                 float[] startPos = offMeshCon.result.Item1;
                                 float[] endPos = offMeshCon.result.Item2;
-                                if (m_smoothPath.Count < MAX_SMOOTH) {
+                                if (m_smoothPath.Count < MAX_SMOOTH)
+                                {
                                     m_smoothPath.Add(startPos);
                                     // Hack to make the dotted path not visible during off-mesh connection.
-                                    if ((m_smoothPath.Count & 1) != 0) {
+                                    if ((m_smoothPath.Count & 1) != 0)
+                                    {
                                         m_smoothPath.Add(startPos);
                                     }
                                 }
+
                                 // Move position at the other side of the off-mesh link.
                                 vCopy(iterPos, endPos);
                                 iterPos[1] = m_navQuery.getPolyHeight(polys[0], iterPos).result;
@@ -326,99 +368,136 @@ public class TestNavmeshTool : Tool {
                         }
 
                         // Store results.
-                        if (m_smoothPath.Count < MAX_SMOOTH) {
+                        if (m_smoothPath.Count < MAX_SMOOTH)
+                        {
                             m_smoothPath.Add(iterPos);
                         }
                     }
                 }
-            } else {
+            }
+            else
+            {
                 m_polys = null;
                 m_smoothPath = null;
             }
-        } else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT) {
+        }
-            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) {
+        else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT)
+        {
+            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
+            {
                 m_polys = m_navQuery.findPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
                     enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue).result;
-                if (0 < m_polys.Count) {
+                if (0 < m_polys.Count)
+                {
                     // In case of partial path, make sure the end point is clamped to the last polygon.
                     float[] epos = new float[] { m_epos[0], m_epos[1], m_epos[2] };
-                    if (m_polys[m_polys.Count - 1] != m_endRef) {
+                    if (m_polys[m_polys.Count - 1] != m_endRef)
+                    {
                         Result<ClosestPointOnPolyResult> result = m_navQuery
                             .closestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
-                        if (result.succeeded()) {
+                        if (result.succeeded())
+                        {
                             epos = result.result.getClosest();
                         }
                     }
+
                     m_straightPath = m_navQuery.findStraightPath(m_spos, epos, m_polys, MAX_POLYS,
                         m_straightPathOptions).result;
                 }
-            } else {
+            }
+            else
+            {
                 m_straightPath = null;
             }
-        } else if (m_toolMode == ToolMode.PATHFIND_SLICED) {
+        }
+        else if (m_toolMode == ToolMode.PATHFIND_SLICED)
+        {
             m_polys = null;
             m_straightPath = null;
-            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0) {
+            if (m_sposSet && m_eposSet && m_startRef != 0 && m_endRef != 0)
+            {
                 m_pathFindStatus = m_navQuery.initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, m_filter,
                     enableRaycast ? NavMeshQuery.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
             }
-        } else if (m_toolMode == ToolMode.RAYCAST) {
+        }
+        else if (m_toolMode == ToolMode.RAYCAST)
+        {
             m_straightPath = null;
-            if (m_sposSet && m_eposSet && m_startRef != 0) {
+            if (m_sposSet && m_eposSet && m_startRef != 0)
+            {
                 {
                     Result<RaycastHit> hit = m_navQuery.raycast(m_startRef, m_spos, m_epos, m_filter, 0, 0);
-                    if (hit.succeeded()) {
+                    if (hit.succeeded())
+                    {
                         m_polys = hit.result.path;
-                        if (hit.result.t > 1) {
+                        if (hit.result.t > 1)
+                        {
                             // No hit
                             m_hitPos = ArrayUtils.CopyOf(m_epos, m_epos.Length);
                             m_hitResult = false;
-                        } else {
+                        }
+                        else
+                        {
                             // Hit
                             m_hitPos = vLerp(m_spos, m_epos, hit.result.t);
                             m_hitNormal = ArrayUtils.CopyOf(hit.result.hitNormal, hit.result.hitNormal.Length);
                             m_hitResult = true;
                         }
+
                         // Adjust height.
-                        if (hit.result.path.Count > 0) {
+                        if (hit.result.path.Count > 0)
+                        {
                             Result<float> result = m_navQuery
                                 .getPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos);
-                            if (result.succeeded()) {
+                            if (result.succeeded())
+                            {
                                 m_hitPos[1] = result.result;
                             }
                         }
                     }
+
                     m_straightPath = new();
                     m_straightPath.Add(new StraightPathItem(m_spos, 0, 0));
                     m_straightPath.Add(new StraightPathItem(m_hitPos, 0, 0));
                 }
             }
-        } else if (m_toolMode == ToolMode.DISTANCE_TO_WALL) {
+        }
+        else if (m_toolMode == ToolMode.DISTANCE_TO_WALL)
+        {
             m_distanceToWall = 0;
-            if (m_sposSet && m_startRef != 0) {
+            if (m_sposSet && m_startRef != 0)
+            {
                 m_distanceToWall = 0.0f;
                 Result<FindDistanceToWallResult> result = m_navQuery.findDistanceToWall(m_startRef, m_spos, 100.0f,
                     m_filter);
-                if (result.succeeded()) {
+                if (result.succeeded())
+                {
                     m_distanceToWall = result.result.getDistance();
                     m_hitPos = result.result.getPosition();
                     m_hitNormal = result.result.getNormal();
                 }
             }
-        } else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE) {
+        }
-            if (m_sposSet && m_startRef != 0 && m_eposSet) {
+        else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE)
+        {
+            if (m_sposSet && m_startRef != 0 && m_eposSet)
+            {
                 float dx = m_epos[0] - m_spos[0];
                 float dz = m_epos[2] - m_spos[2];
-                float dist = (float) Math.Sqrt(dx * dx + dz * dz);
+                float dist = (float)Math.Sqrt(dx * dx + dz * dz);
                 Result<FindPolysAroundResult> result = m_navQuery.findPolysAroundCircle(m_startRef, m_spos, dist,
                     m_filter);
-                if (result.succeeded()) {
+                if (result.succeeded())
+                {
                     m_polys = result.result.getRefs();
                     m_parent = result.result.getParentRefs();
                 }
             }
-        } else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE) {
+        }
-            if (m_sposSet && m_startRef != 0 && m_eposSet) {
+        else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE)
+        {
+            if (m_sposSet && m_startRef != 0 && m_eposSet)
+            {
                 float nx = (m_epos[2] - m_spos[2]) * 0.25f;
                 float nz = -(m_epos[0] - m_spos[0]) * 0.25f;
                 float agentHeight = m_sample != null ? m_sample.getSettingsUI().getAgentHeight() : 0;
@@ -440,33 +519,44 @@ public class TestNavmeshTool : Tool {
                 m_queryPoly[11] = m_epos[2] + nz;
 
                 Result<FindPolysAroundResult> result = m_navQuery.findPolysAroundShape(m_startRef, m_queryPoly, m_filter);
-                if (result.succeeded()) {
+                if (result.succeeded())
+                {
                     m_polys = result.result.getRefs();
                     m_parent = result.result.getParentRefs();
                 }
             }
-        } else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD) {
+        }
-            if (m_sposSet && m_startRef != 0) {
+        else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD)
+        {
+            if (m_sposSet && m_startRef != 0)
+            {
                 m_neighbourhoodRadius = m_sample.getSettingsUI().getAgentRadius() * 20.0f;
                 Result<FindLocalNeighbourhoodResult> result = m_navQuery.findLocalNeighbourhood(m_startRef, m_spos,
                     m_neighbourhoodRadius, m_filter);
-                if (result.succeeded()) {
+                if (result.succeeded())
+                {
                     m_polys = result.result.getRefs();
                     m_parent = result.result.getParentRefs();
                 }
             }
-        } else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE) {
+        }
+        else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE)
+        {
             randomPoints.Clear();
-            if (m_sposSet && m_startRef != 0 && m_eposSet) {
+            if (m_sposSet && m_startRef != 0 && m_eposSet)
+            {
                 float dx = m_epos[0] - m_spos[0];
                 float dz = m_epos[2] - m_spos[2];
-                float dist = (float) Math.Sqrt(dx * dx + dz * dz);
+                float dist = (float)Math.Sqrt(dx * dx + dz * dz);
-                PolygonByCircleConstraint constraint = constrainByCircle ? PolygonByCircleConstraint.strict()
+                PolygonByCircleConstraint constraint = constrainByCircle
+                    ? PolygonByCircleConstraint.strict()
                     : PolygonByCircleConstraint.noop();
-                for (int i = 0; i < 200; i++) {
+                for (int i = 0; i < 200; i++)
+                {
                     Result<FindRandomPointResult> result = m_navQuery.findRandomPointAroundCircle(m_startRef, m_spos, dist,
                         m_filter, new NavMeshQuery.FRand(), constraint);
-                    if (result.succeeded()) {
+                    if (result.succeeded())
+                    {
                         randomPoints.Add(result.result.getRandomPt());
                     }
                 }
@@ -474,10 +564,13 @@ public class TestNavmeshTool : Tool {
         }
     }
 
-    public override void handleRender(NavMeshRenderer renderer) {
+    public override void handleRender(NavMeshRenderer renderer)
-        if (m_sample == null) {
+    {
+        if (m_sample == null)
+        {
             return;
         }
+
         RecastDebugDraw dd = renderer.getDebugDraw();
         int startCol = duRGBA(128, 25, 0, 192);
         int endCol = duRGBA(51, 102, 0, 129);
@@ -487,38 +580,52 @@ public class TestNavmeshTool : Tool {
         float agentHeight = m_sample.getSettingsUI().getAgentHeight();
         float agentClimb = m_sample.getSettingsUI().getAgentMaxClimb();
 
-        if (m_sposSet) {
+        if (m_sposSet)
+        {
             drawAgent(dd, m_spos, startCol);
         }
-        if (m_eposSet) {
+
+        if (m_eposSet)
+        {
             drawAgent(dd, m_epos, endCol);
         }
+
         dd.depthMask(true);
 
         NavMesh m_navMesh = m_sample.getNavMesh();
-        if (m_navMesh == null) {
+        if (m_navMesh == null)
+        {
             return;
         }
 
-        if (m_toolMode == ToolMode.PATHFIND_FOLLOW) {
+        if (m_toolMode == ToolMode.PATHFIND_FOLLOW)
+        {
             dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
             dd.debugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
 
-            if (m_polys != null) {
+            if (m_polys != null)
-                foreach (long poly in m_polys) {
+            {
-                    if (poly == m_startRef || poly == m_endRef) {
+                foreach (long poly in m_polys)
+                {
+                    if (poly == m_startRef || poly == m_endRef)
+                    {
                         continue;
                     }
+
                     dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol);
                 }
             }
-            if (m_smoothPath != null) {
+
+            if (m_smoothPath != null)
+            {
                 dd.depthMask(false);
                 int spathCol = duRGBA(0, 0, 0, 220);
                 dd.begin(LINES, 3.0f);
-                for (int i = 0; i < m_smoothPath.Count; ++i) {
+                for (int i = 0; i < m_smoothPath.Count; ++i)
+                {
                     dd.vertex(m_smoothPath[i][0], m_smoothPath[i][1] + 0.1f, m_smoothPath[i][2], spathCol);
                 }
+
                 dd.end();
                 dd.depthMask(true);
             }
@@ -556,60 +663,87 @@ public class TestNavmeshTool : Tool {
                 dd.depthMask(true);
             }
             */
-        } else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT || m_toolMode == ToolMode.PATHFIND_SLICED) {
+        }
+        else if (m_toolMode == ToolMode.PATHFIND_STRAIGHT || m_toolMode == ToolMode.PATHFIND_SLICED)
+        {
             dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
             dd.debugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
 
-            if (m_polys != null) {
+            if (m_polys != null)
-                foreach (long poly in m_polys) {
+            {
+                foreach (long poly in m_polys)
+                {
                     dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol);
                 }
             }
-            if (m_straightPath != null) {
+
+            if (m_straightPath != null)
+            {
                 dd.depthMask(false);
                 int spathCol = duRGBA(64, 16, 0, 220);
                 int offMeshCol = duRGBA(128, 96, 0, 220);
                 dd.begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i) {
+                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                {
                     StraightPathItem straightPathItem = m_straightPath[i];
                     StraightPathItem straightPathItem2 = m_straightPath[i + 1];
                     int col;
-                    if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) {
+                    if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    {
                         col = offMeshCol;
-                    } else {
+                    }
+                    else
+                    {
                         col = spathCol;
                     }
+
                     dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f,
                         straightPathItem.getPos()[2], col);
                     dd.vertex(straightPathItem2.getPos()[0], straightPathItem2.getPos()[1] + 0.4f,
                         straightPathItem2.getPos()[2], col);
                 }
+
                 dd.end();
                 dd.begin(POINTS, 6.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i) {
+                for (int i = 0; i < m_straightPath.Count; ++i)
+                {
                     StraightPathItem straightPathItem = m_straightPath[i];
                     int col;
-                    if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_START) != 0) {
+                    if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_START) != 0)
+                    {
                         col = startCol;
-                    } else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_END) != 0) {
+                    }
+                    else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_END) != 0)
+                    {
                         col = endCol;
-                    } else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0) {
+                    }
+                    else if ((straightPathItem.getFlags() & NavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    {
                         col = offMeshCol;
-                    } else {
+                    }
+                    else
+                    {
                         col = spathCol;
                     }
+
                     dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f,
                         straightPathItem.getPos()[2], col);
                 }
+
                 dd.end();
                 dd.depthMask(true);
             }
-        } else if (m_toolMode == ToolMode.RAYCAST) {
+        }
+        else if (m_toolMode == ToolMode.RAYCAST)
+        {
             dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
 
-            if (m_straightPath != null) {
+            if (m_straightPath != null)
-                if (m_polys != null) {
+            {
-                    foreach (long poly in m_polys) {
+                if (m_polys != null)
+                {
+                    foreach (long poly in m_polys)
+                    {
                         dd.debugDrawNavMeshPoly(m_navMesh, poly, pathCol);
                     }
                 }
@@ -617,7 +751,8 @@ public class TestNavmeshTool : Tool {
                 dd.depthMask(false);
                 int spathCol = m_hitResult ? duRGBA(64, 16, 0, 220) : duRGBA(240, 240, 240, 220);
                 dd.begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i) {
+                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                {
                     StraightPathItem straightPathItem = m_straightPath[i];
                     StraightPathItem straightPathItem2 = m_straightPath[i + 1];
                     dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f,
@@ -625,16 +760,20 @@ public class TestNavmeshTool : Tool {
                     dd.vertex(straightPathItem2.getPos()[0], straightPathItem2.getPos()[1] + 0.4f,
                         straightPathItem2.getPos()[2], spathCol);
                 }
+
                 dd.end();
                 dd.begin(POINTS, 4.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i) {
+                for (int i = 0; i < m_straightPath.Count; ++i)
+                {
                     StraightPathItem straightPathItem = m_straightPath[i];
                     dd.vertex(straightPathItem.getPos()[0], straightPathItem.getPos()[1] + 0.4f,
                         straightPathItem.getPos()[2], spathCol);
                 }
+
                 dd.end();
 
-                if (m_hitResult) {
+                if (m_hitResult)
+                {
                     int hitCol = duRGBA(0, 0, 0, 128);
                     dd.begin(LINES, 2.0f);
                     dd.vertex(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2], hitCol);
@@ -643,28 +782,40 @@ public class TestNavmeshTool : Tool {
                         m_hitPos[2] + m_hitNormal[2] * agentRadius, hitCol);
                     dd.end();
                 }
+
                 dd.depthMask(true);
             }
-        } else if (m_toolMode == ToolMode.DISTANCE_TO_WALL) {
+        }
+        else if (m_toolMode == ToolMode.DISTANCE_TO_WALL)
+        {
             dd.debugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
             dd.depthMask(false);
-            if (m_spos != null) {
+            if (m_spos != null)
+            {
                 dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], m_distanceToWall,
                     duRGBA(64, 16, 0, 220), 2.0f);
             }
-            if (m_hitPos != null) {
+
+            if (m_hitPos != null)
+            {
                 dd.begin(LINES, 3.0f);
                 dd.vertex(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2], duRGBA(0, 0, 0, 192));
                 dd.vertex(m_hitPos[0], m_hitPos[1] + agentHeight, m_hitPos[2], duRGBA(0, 0, 0, 192));
                 dd.end();
             }
+
             dd.depthMask(true);
-        } else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE) {
+        }
-            if (m_polys != null) {
+        else if (m_toolMode == ToolMode.FIND_POLYS_IN_CIRCLE)
-                for (int i = 0; i < m_polys.Count; i++) {
+        {
+            if (m_polys != null)
+            {
+                for (int i = 0; i < m_polys.Count; i++)
+                {
                     dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
                     dd.depthMask(false);
-                    if (m_parent[i] != 0) {
+                    if (m_parent[i] != 0)
+                    {
                         dd.depthMask(false);
                         float[] p0 = getPolyCenter(m_navMesh, m_parent[i]);
                         float[] p1 = getPolyCenter(m_navMesh, m_polys[i]);
@@ -672,25 +823,32 @@ public class TestNavmeshTool : Tool {
                             duRGBA(0, 0, 0, 128), 2.0f);
                         dd.depthMask(true);
                     }
+
                     dd.depthMask(true);
                 }
             }
 
-            if (m_sposSet && m_eposSet) {
+            if (m_sposSet && m_eposSet)
+            {
                 dd.depthMask(false);
                 float dx = m_epos[0] - m_spos[0];
                 float dz = m_epos[2] - m_spos[2];
-                float dist = (float) Math.Sqrt(dx * dx + dz * dz);
+                float dist = (float)Math.Sqrt(dx * dx + dz * dz);
                 dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], dist, duRGBA(64, 16, 0, 220),
                     2.0f);
                 dd.depthMask(true);
             }
-        } else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE) {
+        }
-            if (m_polys != null) {
+        else if (m_toolMode == ToolMode.FIND_POLYS_IN_SHAPE)
-                for (int i = 0; i < m_polys.Count; i++) {
+        {
+            if (m_polys != null)
+            {
+                for (int i = 0; i < m_polys.Count; i++)
+                {
                     dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
                     dd.depthMask(false);
-                    if (m_parent[i] != 0) {
+                    if (m_parent[i] != 0)
+                    {
                         dd.depthMask(false);
                         float[] p0 = getPolyCenter(m_navMesh, m_parent[i]);
                         float[] p1 = getPolyCenter(m_navMesh, m_polys[i]);
@@ -698,27 +856,36 @@ public class TestNavmeshTool : Tool {
                             duRGBA(0, 0, 0, 128), 2.0f);
                         dd.depthMask(true);
                     }
+
                     dd.depthMask(true);
                 }
             }
 
-            if (m_sposSet && m_eposSet) {
+            if (m_sposSet && m_eposSet)
+            {
                 dd.depthMask(false);
                 int col = duRGBA(64, 16, 0, 220);
                 dd.begin(LINES, 2.0f);
-                for (int i = 0, j = 3; i < 4; j = i++) {
+                for (int i = 0, j = 3; i < 4; j = i++)
+                {
                     dd.vertex(m_queryPoly[j * 3], m_queryPoly[j * 3 + 1], m_queryPoly[j * 3 + 2], col);
                     dd.vertex(m_queryPoly[i * 3], m_queryPoly[i * 3 + 1], m_queryPoly[i * 3 + 2], col);
                 }
+
                 dd.end();
                 dd.depthMask(true);
             }
-        } else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD) {
+        }
-            if (m_polys != null) {
+        else if (m_toolMode == ToolMode.FIND_LOCAL_NEIGHBOURHOOD)
-                for (int i = 0; i < m_polys.Count; i++) {
+        {
+            if (m_polys != null)
+            {
+                for (int i = 0; i < m_polys.Count; i++)
+                {
                     dd.debugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
                     dd.depthMask(false);
-                    if (m_parent[i] != 0) {
+                    if (m_parent[i] != 0)
+                    {
                         dd.depthMask(false);
                         float[] p0 = getPolyCenter(m_navMesh, m_parent[i]);
                         float[] p1 = getPolyCenter(m_navMesh, m_polys[i]);
@@ -726,36 +893,47 @@ public class TestNavmeshTool : Tool {
                             duRGBA(0, 0, 0, 128), 2.0f);
                         dd.depthMask(true);
                     }
+
                     dd.depthMask(true);
-                    if (m_sample.getNavMeshQuery() != null) {
+                    if (m_sample.getNavMeshQuery() != null)
+                    {
                         Result<GetPolyWallSegmentsResult> result = m_sample.getNavMeshQuery()
                             .getPolyWallSegments(m_polys[i], false, m_filter);
-                        if (result.succeeded()) {
+                        if (result.succeeded())
+                        {
                             dd.begin(LINES, 2.0f);
                             GetPolyWallSegmentsResult wallSegments = result.result;
-                            for (int j = 0; j < wallSegments.getSegmentVerts().Count; ++j) {
+                            for (int j = 0; j < wallSegments.getSegmentVerts().Count; ++j)
+                            {
                                 float[] s = wallSegments.getSegmentVerts()[j];
                                 float[] s3 = new float[] { s[3], s[4], s[5] };
                                 // Skip too distant segments.
                                 Tuple<float, float> distSqr = DetourCommon.distancePtSegSqr2D(m_spos, s, 0, 3);
-                                if (distSqr.Item1 > DemoMath.sqr(m_neighbourhoodRadius)) {
+                                if (distSqr.Item1 > DemoMath.sqr(m_neighbourhoodRadius))
+                                {
                                     continue;
                                 }
+
                                 float[] delta = vSub(s3, s);
                                 float[] p0 = vMad(s, delta, 0.5f);
                                 float[] norm = new float[] { delta[2], 0, -delta[0] };
                                 vNormalize(norm);
                                 float[] p1 = vMad(p0, norm, agentRadius * 0.5f);
                                 // Skip backfacing segments.
-                                if (wallSegments.getSegmentRefs()[j] != 0) {
+                                if (wallSegments.getSegmentRefs()[j] != 0)
+                                {
                                     int col = duRGBA(255, 255, 255, 32);
                                     dd.vertex(s[0], s[1] + agentClimb, s[2], col);
                                     dd.vertex(s[3], s[4] + agentClimb, s[5], col);
-                                } else {
+                                }
+                                else
+                                {
                                     int col = duRGBA(192, 32, 16, 192);
-                                    if (DetourCommon.triArea2D(m_spos, s, s3) < 0.0f) {
+                                    if (DetourCommon.triArea2D(m_spos, s, s3) < 0.0f)
+                                    {
                                         col = duRGBA(96, 32, 16, 192);
                                     }
+
                                     dd.vertex(p0[0], p0[1] + agentClimb, p0[2], col);
                                     dd.vertex(p1[0], p1[1] + agentClimb, p1[2], col);
 
@@ -763,6 +941,7 @@ public class TestNavmeshTool : Tool {
                                     dd.vertex(s[3], s[4] + agentClimb, s[5], col);
                                 }
                             }
+
                             dd.end();
                         }
                     }
@@ -770,35 +949,43 @@ public class TestNavmeshTool : Tool {
                     dd.depthMask(true);
                 }
 
-                if (m_sposSet) {
+                if (m_sposSet)
+                {
                     dd.depthMask(false);
                     dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], m_neighbourhoodRadius,
                         duRGBA(64, 16, 0, 220), 2.0f);
                     dd.depthMask(true);
                 }
             }
-        } else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE) {
+        }
+        else if (m_toolMode == ToolMode.RANDOM_POINTS_IN_CIRCLE)
+        {
             dd.depthMask(false);
             dd.begin(POINTS, 4.0f);
             int col = duRGBA(64, 16, 0, 220);
-            foreach (float[] point in randomPoints) {
+            foreach (float[] point in randomPoints)
+            {
                 dd.vertex(point[0], point[1] + 0.1f, point[2], col);
             }
+
             dd.end();
-            if (m_sposSet && m_eposSet) {
+            if (m_sposSet && m_eposSet)
+            {
                 dd.depthMask(false);
                 float dx = m_epos[0] - m_spos[0];
                 float dz = m_epos[2] - m_spos[2];
-                float dist = (float) Math.Sqrt(dx * dx + dz * dz);
+                float dist = (float)Math.Sqrt(dx * dx + dz * dz);
                 dd.debugDrawCircle(m_spos[0], m_spos[1] + agentHeight / 2, m_spos[2], dist, duRGBA(64, 16, 0, 220),
                     2.0f);
                 dd.depthMask(true);
             }
+
             dd.depthMask(true);
         }
     }
 
-    private void drawAgent(RecastDebugDraw dd, float[] pos, int col) {
+    private void drawAgent(RecastDebugDraw dd, float[] pos, int col)
+    {
         float r = m_sample.getSettingsUI().getAgentRadius();
         float h = m_sample.getSettingsUI().getAgentHeight();
         float c = m_sample.getSettingsUI().getAgentMaxClimb();
@@ -818,47 +1005,60 @@ public class TestNavmeshTool : Tool {
         dd.depthMask(true);
     }
 
-    private float[] getPolyCenter(NavMesh navMesh, long refs) {
+    private float[] getPolyCenter(NavMesh navMesh, long refs)
+    {
         float[] center = new float[3];
         center[0] = 0;
         center[1] = 0;
         center[2] = 0;
         Result<Tuple<MeshTile, Poly>> tileAndPoly = navMesh.getTileAndPolyByRef(refs);
-        if (tileAndPoly.succeeded()) {
+        if (tileAndPoly.succeeded())
+        {
             MeshTile tile = tileAndPoly.result.Item1;
             Poly poly = tileAndPoly.result.Item2;
-            for (int i = 0; i < poly.vertCount; ++i) {
+            for (int i = 0; i < poly.vertCount; ++i)
+            {
                 int v = poly.verts[i] * 3;
                 center[0] += tile.data.verts[v];
                 center[1] += tile.data.verts[v + 1];
                 center[2] += tile.data.verts[v + 2];
             }
+
             float s = 1.0f / poly.vertCount;
             center[0] *= s;
             center[1] *= s;
             center[2] *= s;
         }
+
         return center;
     }
 
-    public override void handleUpdate(float dt) {
+    public override void handleUpdate(float dt)
+    {
         // TODO Auto-generated method stub
-        if (m_toolMode == ToolMode.PATHFIND_SLICED) {
+        if (m_toolMode == ToolMode.PATHFIND_SLICED)
+        {
             NavMeshQuery m_navQuery = m_sample.getNavMeshQuery();
-            if (m_pathFindStatus.isInProgress()) {
+            if (m_pathFindStatus.isInProgress())
+            {
                 m_pathFindStatus = m_navQuery.updateSlicedFindPath(1).status;
             }
-            if (m_pathFindStatus.isSuccess()) {
+
+            if (m_pathFindStatus.isSuccess())
+            {
                 m_polys = m_navQuery.finalizeSlicedFindPath().result;
                 m_straightPath = null;
-                if (m_polys != null) {
+                if (m_polys != null)
+                {
                     // In case of partial path, make sure the end point is clamped to the last polygon.
                     float[] epos = new float[3];
                     DetourCommon.vCopy(epos, m_epos);
-                    if (m_polys[m_polys.Count - 1] != m_endRef) {
+                    if (m_polys[m_polys.Count - 1] != m_endRef)
+                    {
                         Result<ClosestPointOnPolyResult> result = m_navQuery
                             .closestPointOnPoly(m_polys[m_polys.Count - 1], m_epos);
-                        if (result.succeeded()) {
+                        if (result.succeeded())
+                        {
                             epos = result.result.getClosest();
                         }
                     }
@@ -872,9 +1072,9 @@ public class TestNavmeshTool : Tool {
                         }
                     }
                 }
+
                 m_pathFindStatus = Status.FAILURE;
             }
-
         }
     }
 }

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

@@ -23,8 +23,8 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public abstract class Tool {
+public abstract class Tool
-
+{
     public abstract void setSample(Sample m_sample);
 
     public abstract void handleClick(float[] s, float[] p, bool shift);

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

@@ -20,7 +20,7 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public interface ToolUIModule {
+public interface ToolUIModule
-
+{
     void layout(IWindow ctx);
 }

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

@@ -23,18 +23,20 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.Tools;
 
-public class ToolsUI : IRcView {
+public class ToolsUI : IRcView
-
+{
     //private readonly NkColor white = NkColor.create();
     private Tool currentTool;
     private bool enabled;
     private readonly Tool[] tools;
 
-    public ToolsUI(params Tool[] tools) {
+    public ToolsUI(params Tool[] tools)
+    {
         this.tools = tools;
     }
 
-    public bool render(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY) {
+    public bool render(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY)
+    {
         bool mouseInside = false;
         // nk_rgb(255, 255, 255, white);
         // try (MemoryStack stack = stackPush()) {
@@ -63,20 +65,23 @@ public class ToolsUI : IRcView {
         return mouseInside;
     }
 
-    public void setEnabled(bool enabled) {
+    public void setEnabled(bool enabled)
+    {
         this.enabled = enabled;
     }
 
-    public Tool getTool() {
+    public Tool getTool()
+    {
         return currentTool;
     }
 
-    public void setSample(Sample sample) {
+    public void setSample(Sample sample)
+    {
         tools.forEach(t => t.setSample(sample));
     }
 
-    public void handleUpdate(float dt) {
+    public void handleUpdate(float dt)
+    {
         tools.forEach(t => t.handleUpdate(dt));
     }
-
 }

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

@@ -20,7 +20,7 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.UI;
 
-public interface IRcView {
+public interface IRcView
-
+{
     bool render(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY);
 }

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

@@ -22,8 +22,8 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.UI;
 
-public class Mouse {
+public class Mouse
-
+{
     private double x;
     private double y;
     private double scrollX;
@@ -52,80 +52,103 @@ public class Mouse {
         // glfwSetScrollCallback(window, (win, x, y) => scroll(x, y));
     }
 
-    public void cursorPos(double x, double y) {
+    public void cursorPos(double x, double y)
-        foreach (MouseListener l in listeners) {
+    {
+        foreach (MouseListener l in listeners)
+        {
             l.position(x, y);
         }
+
         this.x = x;
         this.y = y;
     }
 
-    public void scroll(double xoffset, double yoffset) {
+    public void scroll(double xoffset, double yoffset)
-        foreach (MouseListener l in listeners) {
+    {
+        foreach (MouseListener l in listeners)
+        {
             l.scroll(xoffset, yoffset);
         }
+
         scrollX += xoffset;
         scrollY += yoffset;
     }
 
-    public double getDX() {
+    public double getDX()
+    {
         return x - px;
     }
 
-    public double getDY() {
+    public double getDY()
+    {
         return y - py;
     }
 
-    public double getDScrollX() {
+    public double getDScrollX()
+    {
         return scrollX - pScrollX;
     }
 
-    public double getDScrollY() {
+    public double getDScrollY()
+    {
         return scrollY - pScrollY;
     }
 
-    public double getX() {
+    public double getX()
+    {
         return x;
     }
 
-    public void setX(double x) {
+    public void setX(double x)
+    {
         this.x = x;
     }
 
-    public double getY() {
+    public double getY()
+    {
         return y;
     }
 
-    public void setY(double y) {
+    public void setY(double y)
+    {
         this.y = y;
     }
 
-    public void setDelta() {
+    public void setDelta()
+    {
         px = x;
         py = y;
         pScrollX = scrollX;
         pScrollY = scrollY;
     }
 
-    public void buttonPress(int button, int mods) {
+    public void buttonPress(int button, int mods)
-        foreach (MouseListener l in listeners) {
+    {
+        foreach (MouseListener l in listeners)
+        {
             l.button(button, mods, true);
         }
+
         pressed.Add(button);
     }
 
-    public void buttonRelease(int button, int mods) {
+    public void buttonRelease(int button, int mods)
-        foreach (MouseListener l in listeners) {
+    {
+        foreach (MouseListener l in listeners)
+        {
             l.button(button, mods, false);
         }
+
         pressed.Remove(button);
     }
 
-    public bool isPressed(int button) {
+    public bool isPressed(int button)
+    {
         return pressed.Contains(button);
     }
 
-    public void addListener(MouseListener listener) {
+    public void addListener(MouseListener listener)
+    {
         listeners.Add(listener);
     }
 }

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

@@ -15,14 +15,14 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast.Demo.UI;
 
-public interface MouseListener {
+public interface MouseListener
-
+{
     void button(int button, int mods, bool down);
 
     void scroll(double xoffset, double yoffset);
 
     void position(double x, double y);
-
 }

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

@@ -23,9 +23,8 @@ using Microsoft.DotNet.PlatformAbstractions;
 
 namespace DotRecast.Recast.Demo.UI;
 
-
+public class NuklearGL
-public class NuklearGL {
+{
-
     private static readonly int BUFFER_INITIAL_SIZE = 4 * 1024;
     private static readonly int MAX_VERTEX_BUFFER = 512 * 1024;
     private static readonly int MAX_ELEMENT_BUFFER = 128 * 1024;
@@ -34,6 +33,7 @@ public class NuklearGL {
     private static readonly int FONT_HEIGHT = 15;
 
     private readonly RcViewSystem context;
+
     // private readonly NkDrawNullTexture null_texture = NkDrawNullTexture.create();
     // private readonly NkBuffer cmds = NkBuffer.create();
     // private readonly NkUserFont default_font;
@@ -42,10 +42,12 @@ public class NuklearGL {
     private readonly int uniform_proj;
     private readonly int vbo;
     private readonly int ebo;
+
     private readonly int vao;
     //private readonly Buffer vertexLayout;
 
-    public NuklearGL(RcViewSystem context) {
+    public NuklearGL(RcViewSystem context)
+    {
         this.context = context;
         // nk_buffer_init(cmds, context.allocator, BUFFER_INITIAL_SIZE);
         // vertexLayout = NkDrawVertexLayoutElement.create(4)//
@@ -128,7 +130,8 @@ public class NuklearGL {
         // nk_style_set_font(context.ctx, default_font);
     }
 
-    private long setupFont() {
+    private long setupFont()
+    {
         return 0;
         // NkUserFont font = NkUserFont.create();
         // ByteBuffer ttf;
@@ -240,7 +243,8 @@ public class NuklearGL {
         // return font;
     }
 
-    void render(long win, int AA) {
+    void render(long win, int AA)
+    {
         // int width;
         // int height;
         // int display_width;

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

@@ -20,8 +20,8 @@ using System.Runtime.InteropServices.JavaScript;
 
 namespace DotRecast.Recast.Demo.UI;
 
-public class NuklearUIHelper {
+public class NuklearUIHelper
-
+{
     // public static void nk_color_rgb(IWindow ctx, NkColorf color) {
     //     try (MemoryStack stack = stackPush()) {
     //         if (nk_combo_begin_color(ctx, nk_rgb_cf(color, NkColor.mallocStack(stack)),

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

@@ -23,11 +23,13 @@ using Silk.NET.Windowing;
 
 namespace DotRecast.Recast.Demo.UI;
 
-public class RcViewSystem {
+public class RcViewSystem
-
+{
     // readonly NkAllocator allocator;
     private readonly IWindow _window;
+
     private readonly GL _gl;
+
     // readonly NkColor background;
     // readonly NkColor white;
     private readonly IRcView[] _views;
@@ -61,7 +63,8 @@ public class RcViewSystem {
         _views = views;
     }
 
-    private void setupMouse(Mouse mouse) {
+    private void setupMouse(Mouse mouse)
+    {
         // mouse.addListener(new MouseListener() {
         //
         //     @Override
@@ -99,7 +102,8 @@ public class RcViewSystem {
         // });
     }
 
-    private void setupClipboard(long window) {
+    private void setupClipboard(long window)
+    {
         // ctx.clip().copy((handle, text, len) => {
         //     if (len == 0) {
         //         return;
@@ -120,11 +124,13 @@ public class RcViewSystem {
         // });
     }
 
-    public void inputBegin() {
+    public void inputBegin()
+    {
         //nk_input_begin(ctx);
     }
 
-    public void inputEnd(IWindow win) {
+    public void inputEnd(IWindow win)
+    {
         // NkMouse mouse = ctx.input().mouse();
         // if (mouse.grab()) {
         //     glfwSetInputMode(win, GLFW_CURSOR, GLFW_CURSOR_HIDDEN);
@@ -140,11 +146,14 @@ public class RcViewSystem {
         // nk_input_end(ctx);
     }
 
-    public bool render(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY) {
+    public bool render(IWindow ctx, int x, int y, int width, int height, int mouseX, int mouseY)
+    {
         mouseOverUI = false;
-        foreach (IRcView m in _views) {
+        foreach (IRcView m in _views)
+        {
             mouseOverUI = m.render(ctx, x, y, width, height, mouseX, mouseY) | mouseOverUI;
         }
+
         return mouseOverUI;
     }
 }

src/DotRecast.Recast/AreaModification.cs

@@ -20,10 +20,8 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    public class AreaModification
-
+    {
-public class AreaModification
-{
         public readonly int RC_AREA_FLAGS_MASK = 0x3F;
 
         private readonly int value;
@@ -69,5 +67,5 @@ public class AreaModification
         {
             return ((value & mask) | (area & ~mask));
         }
-}
+    }
 }

src/DotRecast.Recast/CompactCell.cs

@@ -20,15 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** Provides information on the content of a cell column in a compact heightfield. */
-
+    public class CompactCell
-/** Provides information on the content of a cell column in a compact heightfield. */
+    {
-public class CompactCell
-{
         /** Index to the first span in the column. */
         public int index;
 
         /** Number of spans in the column. */
         public int count;
-}
+    }
 }

src/DotRecast.Recast/CompactHeightfield.cs

@@ -20,11 +20,9 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** A compact, static heightfield representing unobstructed space. */
-
+    public class CompactHeightfield
-/** A compact, static heightfield representing unobstructed space. */
+    {
-public class CompactHeightfield
-{
         /** The width of the heightfield. (Along the x-axis in cell units.) */
         public int width;
 
@@ -72,5 +70,5 @@ public class CompactHeightfield
 
         /** Array containing area id data. [Size: #spanCount] */
         public int[] areas;
-}
+    }
 }

src/DotRecast.Recast/CompactSpan.cs

@@ -20,11 +20,9 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** Represents a span of unobstructed space within a compact heightfield. */
-
+    public class CompactSpan
-/** Represents a span of unobstructed space within a compact heightfield. */
+    {
-public class CompactSpan
-{
         /** The lower extent of the span. (Measured from the heightfield's base.) */
         public int y;
 
@@ -36,5 +34,5 @@ public class CompactSpan
 
         /** The height of the span. (Measured from #y.) */
         public int h;
-}
+    }
 }

src/DotRecast.Recast/Contour.cs

@@ -20,11 +20,9 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** Represents a simple, non-overlapping contour in field space. */
-
+    public class Contour
-/** Represents a simple, non-overlapping contour in field space. */
+    {
-public class Contour
-{
         /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */
         public int[] verts;
 
@@ -42,5 +40,5 @@ public class Contour
 
         /** The area id of the contour. */
         public int reg;
-}
+    }
 }

src/DotRecast.Recast/ContourSet.cs

@@ -22,11 +22,9 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
-
+    /** Represents a group of related contours. */
-
+    public class ContourSet
-/** Represents a group of related contours. */
+    {
-public class ContourSet
-{
         /** A list of the contours in the set. */
         public List<Contour> conts = new List<Contour>();
 
@@ -53,5 +51,5 @@ public class ContourSet
 
         /** The max edge error that this contour set was simplified with. */
         public float maxError;
-}
+    }
 }

src/DotRecast.Recast/ConvexVolume.cs

@@ -20,13 +20,11 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    public class ConvexVolume
-
+    {
-public class ConvexVolume
-{
         public float[] verts;
         public float hmin;
         public float hmax;
         public AreaModification areaMod;
-}
+    }
 }

src/DotRecast.Recast/DotRecast.Recast.csproj

@@ -5,7 +5,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj" />
+        <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj"/>
     </ItemGroup>
 
 </Project>

src/DotRecast.Recast/Geom/ChunkyTriMesh.cs

@@ -23,10 +23,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public class ChunkyTriMesh
-
+    {
-public class ChunkyTriMesh
-{
         private class BoundsItem
         {
             public readonly float[] bmin = new float[2];
@@ -246,5 +244,5 @@ public class ChunkyTriMesh
 
             return ids;
         }
-}
+    }
 }

src/DotRecast.Recast/Geom/ChunkyTriMeshNode.cs

@@ -1,13 +1,10 @@
 namespace DotRecast.Recast.Geom
 {
-
+    public class ChunkyTriMeshNode
-
+    {
-public class ChunkyTriMeshNode
-{
         public readonly float[] bmin = new float[2];
         public readonly float[] bmax = new float[2];
         public int i;
         public int[] tris;
-}
+    }
-
 }

src/DotRecast.Recast/Geom/ConvexVolumeProvider.cs

@@ -20,10 +20,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public interface ConvexVolumeProvider
-
+    {
-public interface ConvexVolumeProvider
-{
         IList<ConvexVolume> convexVolumes();
-}
+    }
 }

src/DotRecast.Recast/Geom/InputGeomProvider.cs

@@ -22,14 +22,12 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public interface InputGeomProvider : ConvexVolumeProvider
-
+    {
-public interface InputGeomProvider : ConvexVolumeProvider
-{
         float[] getMeshBoundsMin();
 
         float[] getMeshBoundsMax();
 
         IEnumerable<TriMesh> meshes();
-}
+    }
 }

src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs

@@ -24,10 +24,8 @@ using System.Collections.Immutable;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public class SimpleInputGeomProvider : InputGeomProvider
-
+    {
-public class SimpleInputGeomProvider : InputGeomProvider
-{
         public readonly float[] vertices;
         public readonly int[] faces;
         public readonly float[] normals;
@@ -104,7 +102,8 @@ public class SimpleInputGeomProvider : InputGeomProvider
             volumes.Add(vol);
         }
 
-    public IEnumerable<TriMesh> meshes() {
+        public IEnumerable<TriMesh> meshes()
+        {
             return ImmutableArray.Create(new TriMesh(vertices, faces));
         }
 
@@ -135,5 +134,5 @@ public class SimpleInputGeomProvider : InputGeomProvider
                 }
             }
         }
-}
+    }
 }

src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs

@@ -22,10 +22,8 @@ using System.Collections.Immutable;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public class SingleTrimeshInputGeomProvider : InputGeomProvider
-
+    {
-public class SingleTrimeshInputGeomProvider : InputGeomProvider
-{
         private readonly float[] bmin;
         private readonly float[] bmax;
         private readonly TriMesh[] _meshes;
@@ -64,5 +62,5 @@ public class SingleTrimeshInputGeomProvider : InputGeomProvider
         {
             return ImmutableArray<ConvexVolume>.Empty;
         }
-}
+    }
 }

src/DotRecast.Recast/Geom/TriMesh.cs

@@ -22,10 +22,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
-
+    public class TriMesh
-
+    {
-public class TriMesh
-{
         private readonly float[] vertices;
         private readonly int[] faces;
         private readonly ChunkyTriMesh chunkyTriMesh;
@@ -51,5 +49,5 @@ public class TriMesh
         {
             return chunkyTriMesh.getChunksOverlappingRect(bmin, bmax);
         }
-}
+    }
 }

src/DotRecast.Recast/Heightfield.cs

@@ -20,11 +20,9 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** Represents a heightfield layer within a layer set. */
-
+    public class Heightfield
-/** Represents a heightfield layer within a layer set. */
+    {
-public class Heightfield
-{
         /** The width of the heightfield. (Along the x-axis in cell units.) */
         public readonly int width;
 
@@ -60,5 +58,5 @@ public class Heightfield
             this.borderSize = borderSize;
             spans = new Span[width * height];
         }
-}
+    }
 }

src/DotRecast.Recast/HeightfieldLayerSet.cs

@@ -20,13 +20,11 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /// Represents a set of heightfield layers.
-
+    /// @ingroup recast
-/// Represents a set of heightfield layers.
+    /// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
-/// @ingroup recast
+    public class HeightfieldLayerSet
-/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
+    {
-public class HeightfieldLayerSet
-{
         /// Represents a heightfield layer within a layer set.
         /// @see rcHeightfieldLayerSet
         public class HeightfieldLayer
@@ -77,5 +75,5 @@ public class HeightfieldLayerSet
         }
 
         public HeightfieldLayer[] layers; /// < The layers in the set. [Size: #nlayers]
-}
+    }
 }

src/DotRecast.Recast/InputGeomReader.cs

@@ -1,8 +1,6 @@
 namespace DotRecast.Recast
 {
-
+    public class InputGeomReader
-
+    {
-public class InputGeomReader
+    }
-{
-}
 }

src/DotRecast.Recast/ObjImporter.cs

@@ -23,10 +23,8 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-
+    public static class ObjImporter
-
+    {
-public static class ObjImporter
-{
         public class ObjImporterContext
         {
             public List<float> vertexPositions = new List<float>();
@@ -137,5 +135,5 @@ public static class ObjImporter
 
             return posi;
         }
-}
+    }
 }

src/DotRecast.Recast/PartitionType.cs

@@ -1,13 +1,11 @@
 namespace DotRecast.Recast
 {
-
+    /// < Tessellate edges between areas during contour
-
+    /// simplification.
-/// < Tessellate edges between areas during contour
+    public enum PartitionType
-/// simplification.
+    {
-public enum PartitionType
-{
         WATERSHED,
         MONOTONE,
         LAYERS
-}
+    }
 }

src/DotRecast.Recast/PolyMesh.cs

@@ -19,11 +19,9 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /** Represents a polygon mesh suitable for use in building a navigation mesh. */
-
+    public class PolyMesh
-/** Represents a polygon mesh suitable for use in building a navigation mesh. */
+    {
-public class PolyMesh
-{
         /** The mesh vertices. [Form: (x, y, z) coordinates * #nverts] */
         public int[] verts;
 
@@ -68,5 +66,5 @@ public class PolyMesh
 
         /** The max error of the polygon edges in the mesh. */
         public float maxEdgeError;
-}
+    }
 }

src/DotRecast.Recast/PolyMeshDetail.cs

@@ -20,14 +20,12 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    /**
-
-/**
  * Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon
  * mesh object.
  */
-public class PolyMeshDetail
+    public class PolyMeshDetail
-{
+    {
         /** The sub-mesh data. [Size: 4*#nmeshes] */
         public int[] meshes;
 
@@ -45,5 +43,5 @@ public class PolyMeshDetail
 
         /** The number of triangles in #tris. */
         public int ntris;
-}
+    }
 }

src/DotRecast.Recast/Recast.cs

@@ -22,12 +22,10 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class Recast
-using static RecastConstants;
+    {
-
-public class Recast
-{
         void calcBounds(float[] verts, int nv, float[] bmin, float[] bmax)
         {
             for (int i = 0; i < 3; i++)
@@ -121,5 +119,5 @@ public class Recast
                     areas[i] = RC_NULL_AREA;
             }
         }
-}
+    }
 }

src/DotRecast.Recast/RecastArea.cs

@@ -22,12 +22,10 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class RecastArea
-using static RecastConstants;
+    {
-
-public class RecastArea
-{
         /// @par
         ///
         /// Basically, any spans that are closer to a boundary or obstruction than the specified radius
@@ -584,5 +582,5 @@ public class RecastArea
 
             ctx.stopTimer("MARK_CYLINDER_AREA");
         }
-}
+    }
 }

src/DotRecast.Recast/RecastBuilder.cs

@@ -27,10 +27,8 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-
+    public class RecastBuilder
-
+    {
-public class RecastBuilder
-{
         public interface RecastBuilderProgressListener
         {
             void onProgress(int completed, int total);
@@ -48,7 +46,8 @@ public class RecastBuilder
             this.progressListener = progressListener;
         }
 
-    public List<RecastBuilderResult> buildTiles(InputGeomProvider geom, RecastConfig cfg, TaskFactory taskFactory) {
+        public List<RecastBuilderResult> buildTiles(InputGeomProvider geom, RecastConfig cfg, TaskFactory taskFactory)
+        {
             float[] bmin = geom.getMeshBoundsMin();
             float[] bmax = geom.getMeshBoundsMax();
             int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ);
@@ -58,7 +57,9 @@ public class RecastBuilder
             if (null != taskFactory)
             {
                 buildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default);
-        } else {
+            }
+            else
+            {
                 buildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
             }
 
@@ -319,5 +320,5 @@ public class RecastBuilder
             CompactHeightfield chf = buildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
             return RecastLayers.buildHeightfieldLayers(ctx, chf, builderCfg.cfg.walkableHeight);
         }
-}
+    }
 }

src/DotRecast.Recast/RecastBuilderConfig.cs

@@ -20,12 +20,10 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
+    using static RecastVectors;
 
-
+    public class RecastBuilderConfig
-using static RecastVectors;
+    {
-
-public class RecastBuilderConfig
-{
         public readonly RecastConfig cfg;
 
         public readonly int tileX;
@@ -99,5 +97,5 @@ public class RecastBuilderConfig
                 height = wh[1];
             }
         }
-}
+    }
 }

src/DotRecast.Recast/RecastBuilderResult.cs

@@ -1,9 +1,7 @@
 namespace DotRecast.Recast
 {
-
+    public class RecastBuilderResult
-
+    {
-public class RecastBuilderResult
-{
         public readonly int tileX;
         public readonly int tileZ;
         private readonly CompactHeightfield chf;
@@ -55,6 +53,5 @@ public class RecastBuilderResult
         {
             return telemetry;
         }
-}
+    }
-
 }

src/DotRecast.Recast/RecastCommon.cs

@@ -22,10 +22,8 @@ using System;
 
 namespace DotRecast.Recast
 {
-
+    public class RecastCommon
-
+    {
-public class RecastCommon
-{
         /// Gets neighbor connection data for the specified direction.
         /// @param[in] s The span to check.
         /// @param[in] dir The direction to check. [Limits: 0 <= value < 4]
@@ -82,7 +80,5 @@ public class RecastCommon
         {
             return Math.Max(Math.Min(max, v), min);
         }
-
+    }
-
-}
 }

src/DotRecast.Recast/RecastCompact.cs

@@ -20,13 +20,11 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
+    using static RecastVectors;
 
-
+    public class RecastCompact
-using static RecastConstants;
+    {
-using static RecastVectors;
-
-public class RecastCompact
-{
         private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
         private const int MAX_HEIGHT = RecastConstants.SPAN_MAX_HEIGHT;
 
@@ -185,5 +183,5 @@ public class RecastCompact
 
             return spanCount;
         }
-}
+    }
 }

src/DotRecast.Recast/RecastConfig.cs

@@ -22,12 +22,10 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class RecastConfig
-using static RecastConstants;
+    {
-
-public class RecastConfig
-{
         public readonly PartitionType partitionType;
 
         public readonly bool useTiles;
@@ -185,5 +183,5 @@ public class RecastConfig
         {
             return 3 + (int)Math.Ceiling(agentRadius / cs);
         }
-}
+    }
 }

src/DotRecast.Recast/RecastConstants.cs

@@ -20,10 +20,8 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-
+    public static class RecastConstants
-
+    {
-public static class RecastConstants
-{
         public const int RC_NULL_AREA = 0;
         public const int RC_NOT_CONNECTED = 0x3f;
 
@@ -82,7 +80,6 @@ public static class RecastConstants
         public const int RC_CONTOUR_TESS_AREA_EDGES = 0x02;
 
 
-
         public const int RC_LOG_WARNING = 1;
-}
+    }
 }

src/DotRecast.Recast/RecastContour.cs

@@ -23,12 +23,10 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class RecastContour
-using static RecastConstants;
+    {
-
-public class RecastContour
-{
         private class ContourRegion
         {
             public Contour outline;
@@ -1019,5 +1017,5 @@ public class RecastContour
             ctx.stopTimer("CONTOURS");
             return cset;
         }
-}
+    }
 }

src/DotRecast.Recast/RecastFilledVolumeRasterization.cs

@@ -21,14 +21,12 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
+    using static RecastVectors;
+    using static RecastCommon;
 
-
+    public class RecastFilledVolumeRasterization
-using static RecastConstants;
+    {
-using static RecastVectors;
-using static RecastCommon;
-
-public class RecastFilledVolumeRasterization
-{
         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 };
 
@@ -801,5 +799,5 @@ public class RecastFilledVolumeRasterization
             overlap = (amin[2] > bounds[5] || amax[2] < bounds[2]) ? false : overlap;
             return overlap;
         }
-}
+    }
 }

src/DotRecast.Recast/RecastFilter.cs

@@ -22,12 +22,10 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class RecastFilter
-using static RecastConstants;
+    {
-
-public class RecastFilter
-{
         /// @par
         ///
         /// Allows the formation of walkable regions that will flow over low lying
@@ -204,5 +202,5 @@ public class RecastFilter
 
             ctx.stopTimer("FILTER_WALKABLE");
         }
-}
+    }
 }

src/DotRecast.Recast/RecastLayers.cs

@@ -23,19 +23,18 @@ using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
+    using static RecastCommon;
+    using static RecastConstants;
+    using static RecastVectors;
+    using static RecastRegion;
 
-
+    public class RecastLayers
-using static RecastCommon;
+    {
-using static RecastConstants;
-using static RecastVectors;
-using static RecastRegion;
-
-public class RecastLayers {
-
         const int RC_MAX_LAYERS = RecastConstants.RC_NOT_CONNECTED;
         const int RC_MAX_NEIS = 16;
 
-    private class LayerRegion {
+        private class LayerRegion
+        {
             public int id;
             public int layerId;
             public bool @base;
@@ -43,63 +42,73 @@ public class RecastLayers {
             public List<int> layers;
             public List<int> neis;
 
-        public LayerRegion(int i) {
+            public LayerRegion(int i)
+            {
                 id = i;
                 ymin = 0xFFFF;
                 layerId = 0xff;
                 layers = new List<int>();
                 neis = new List<int>();
             }
-
         };
 
-    private static void addUnique(List<int> a, int v) {
+        private static void addUnique(List<int> a, int v)
-        if (!a.Contains(v)) {
+        {
+            if (!a.Contains(v))
+            {
                 a.Add(v);
             }
         }
 
-    private static bool contains(List<int> a, int v) {
+        private static bool contains(List<int> a, int v)
+        {
             return a.Contains(v);
         }
 
-    private static bool overlapRange(int amin, int amax, int bmin, int bmax) {
+        private static bool overlapRange(int amin, int amax, int bmin, int bmax)
+        {
             return (amin > bmax || amax < bmin) ? false : true;
         }
 
-    public static HeightfieldLayerSet buildHeightfieldLayers(Telemetry ctx, CompactHeightfield chf, int walkableHeight) {
+        public static HeightfieldLayerSet buildHeightfieldLayers(Telemetry ctx, CompactHeightfield chf, int walkableHeight)
-
+        {
             ctx.startTimer("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);
+            int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
             SweepSpan[] sweeps = new SweepSpan[nsweeps];
-        for (int i = 0; i < sweeps.Length; i++) {
+            for (int i = 0; i < sweeps.Length; i++)
+            {
                 sweeps[i] = new SweepSpan();
             }
+
             // 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) {
+            for (int y = borderSize; y < h - borderSize; ++y)
+            {
                 // Collect spans from this row.
                 Array.Fill(prevCount, 0, 0, (regId) - (0));
                 int sweepId = 0;
 
-            for (int x = borderSize; x < w - borderSize; ++x) {
+                for (int x = borderSize; x < w - borderSize; ++x)
+                {
                     CompactCell c = chf.cells[x + y * w];
 
-                for (int i = c.index, ni = c.index + c.count; i < ni; ++i) {
+                    for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
+                    {
                         CompactSpan s = chf.spans[i];
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
                         int sid = 0xFF;
                         // -x
 
-                    if (GetCon(s, 0) != RC_NOT_CONNECTED) {
+                        if (GetCon(s, 0) != RC_NOT_CONNECTED)
+                        {
                             int ax = x + GetDirOffsetX(0);
                             int ay = y + GetDirOffsetY(0);
                             int ai = chf.cells[ax + ay * w].index + GetCon(s, 0);
@@ -107,29 +116,35 @@ public class RecastLayers {
                                 sid = srcReg[ai];
                         }
 
-                    if (sid == 0xff) {
+                        if (sid == 0xff)
+                        {
                             sid = sweepId++;
                             sweeps[sid].nei = 0xff;
                             sweeps[sid].ns = 0;
                         }
 
                         // -y
-                    if (GetCon(s, 3) != RC_NOT_CONNECTED) {
+                        if (GetCon(s, 3) != RC_NOT_CONNECTED)
+                        {
                             int ax = x + GetDirOffsetX(3);
                             int ay = y + GetDirOffsetY(3);
                             int ai = chf.cells[ax + ay * w].index + GetCon(s, 3);
                             int nr = srcReg[ai];
-                        if (nr != 0xff) {
+                            if (nr != 0xff)
+                            {
                                 // Set neighbour when first valid neighbour is
                                 // encoutered.
                                 if (sweeps[sid].ns == 0)
                                     sweeps[sid].nei = nr;
 
-                            if (sweeps[sid].nei == nr) {
+                                if (sweeps[sid].nei == nr)
+                                {
                                     // Update existing neighbour
                                     sweeps[sid].ns++;
                                     prevCount[nr]++;
-                            } else {
+                                }
+                                else
+                                {
                                     // This is hit if there is nore than one
                                     // neighbour.
                                     // Invalidate the neighbour.
@@ -143,47 +158,60 @@ public class RecastLayers {
                 }
 
                 // Create unique ID.
-            for (int i = 0; i < sweepId; ++i) {
+                for (int i = 0; i < sweepId; ++i)
+                {
                     // If the neighbour is set and there is only one continuous
                     // connection to it,
                     // 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) {
+                    if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == sweeps[i].ns)
+                    {
                         sweeps[i].id = sweeps[i].nei;
-                } else {
+                    }
-                    if (regId == 255) {
+                    else
+                    {
+                        if (regId == 255)
+                        {
                             throw new Exception("rcBuildHeightfieldLayers: Region ID overflow.");
                         }
+
                         sweeps[i].id = regId++;
                     }
                 }
 
                 // Remap local sweep ids to region ids.
-            for (int x = borderSize; x < w - borderSize; ++x) {
+                for (int x = borderSize; x < w - borderSize; ++x)
+                {
                     CompactCell c = chf.cells[x + y * w];
-                for (int i = c.index, ni = c.index + c.count; i < ni; ++i) {
+                    for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
+                    {
                         if (srcReg[i] != 0xff)
                             srcReg[i] = sweeps[srcReg[i]].id;
                     }
                 }
             }
+
             int nregs = regId;
             LayerRegion[] regs = new LayerRegion[nregs];
 
             // Construct regions
-        for (int i = 0; i < nregs; ++i) {
+            for (int i = 0; i < nregs; ++i)
+            {
                 regs[i] = new LayerRegion(i);
             }
 
             // Find region neighbours and overlapping regions.
             List<int> lregs = new List<int>();
-        for (int y = 0; y < h; ++y) {
+            for (int y = 0; y < h; ++y)
-            for (int x = 0; x < w; ++x) {
+            {
+                for (int x = 0; x < w; ++x)
+                {
                     CompactCell c = chf.cells[x + y * w];
 
                     lregs.Clear();
 
-                for (int i = c.index, ni = c.index + c.count; i < ni; ++i) {
+                    for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
+                    {
                         CompactSpan s = chf.spans[i];
                         int ri = srcReg[i];
                         if (ri == 0xff)
@@ -196,8 +224,10 @@ public class RecastLayers {
                         lregs.Add(ri);
 
                         // Update neighbours
-                    for (int dir = 0; dir < 4; ++dir) {
+                        for (int dir = 0; dir < 4; ++dir)
-                        if (GetCon(s, dir) != RC_NOT_CONNECTED) {
+                        {
+                            if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                            {
                                 int ax = x + GetDirOffsetX(dir);
                                 int ay = y + GetDirOffsetY(dir);
                                 int ai = chf.cells[ax + ay * w].index + GetCon(s, dir);
@@ -206,13 +236,15 @@ public class RecastLayers {
                                     addUnique(regs[ri].neis, rai);
                             }
                         }
-
                     }
 
                     // Update overlapping regions.
-                for (int i = 0; i < lregs.Count - 1; ++i) {
+                    for (int i = 0; i < lregs.Count - 1; ++i)
-                    for (int j = i + 1; j < lregs.Count; ++j) {
+                    {
-                        if (lregs[i] != lregs[j]) {
+                        for (int j = i + 1; j < lregs.Count; ++j)
+                        {
+                            if (lregs[i] != lregs[j])
+                            {
                                 LayerRegion ri = regs[lregs[i]];
                                 LayerRegion rj = regs[lregs[j]];
                                 addUnique(ri.layers, lregs[j]);
@@ -220,7 +252,6 @@ public class RecastLayers {
                             }
                         }
                     }
-
                 }
             }
 
@@ -229,7 +260,8 @@ public class RecastLayers {
 
             List<int> stack = new List<int>();
 
-        for (int i = 0; i < nregs; ++i) {
+            for (int i = 0; i < nregs; ++i)
+            {
                 LayerRegion root = regs[i];
                 // Skip already visited.
                 if (root.layerId != 0xff)
@@ -241,13 +273,15 @@ public class RecastLayers {
 
                 stack.Add(i);
 
-            while (stack.Count != 0) {
+                while (stack.Count != 0)
+                {
                     // Pop front
                     int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음
                     stack.RemoveAt(0);
                     LayerRegion reg = regs[pop];
 
-                foreach (int nei in reg.neis) {
+                    foreach (int nei in reg.neis)
+                    {
                         LayerRegion regn = regs[nei];
                         // Skip already visited.
                         if (regn.layerId != 0xff)
@@ -280,17 +314,20 @@ public class RecastLayers {
             // Merge non-overlapping regions that are close in height.
             int mergeHeight = walkableHeight * 4;
 
-        for (int i = 0; i < nregs; ++i) {
+            for (int i = 0; i < nregs; ++i)
+            {
                 LayerRegion ri = regs[i];
                 if (!ri.@base)
                     continue;
 
                 int newId = ri.layerId;
 
-            for (;;) {
+                for (;;)
+                {
                     int oldId = 0xff;
 
-                for (int j = 0; j < nregs; ++j) {
+                    for (int j = 0; j < nregs; ++j)
+                    {
                         if (i == j)
                             continue;
                         LayerRegion rj = regs[j];
@@ -311,16 +348,19 @@ public class RecastLayers {
                         bool overlap = false;
                         // Iterate over all regions which have the same layerId as
                         // 'rj'
-                    for (int k = 0; k < nregs; ++k) {
+                        for (int k = 0; k < nregs; ++k)
+                        {
                             if (regs[k].layerId != rj.layerId)
                                 continue;
                             // Check if region 'k' is overlapping region 'ri'
                             // Index to 'regs' is the same as region id.
-                        if (contains(ri.layers, k)) {
+                            if (contains(ri.layers, k))
+                            {
                                 overlap = true;
                                 break;
                             }
                         }
+
                         // Cannot merge of regions overlap.
                         if (overlap)
                             continue;
@@ -335,9 +375,11 @@ public class RecastLayers {
                         break;
 
                     // Merge
-                for (int j = 0; j < nregs; ++j) {
+                    for (int j = 0; j < nregs; ++j)
+                    {
                         LayerRegion rj = regs[j];
-                    if (rj.layerId == oldId) {
+                        if (rj.layerId == oldId)
+                        {
                             rj.@base = false;
                             // Remap layerIds.
                             rj.layerId = newId;
@@ -359,18 +401,21 @@ public class RecastLayers {
             layerId = 0;
             for (int i = 0; i < nregs; ++i)
                 remap[regs[i].layerId] = 1;
-        for (int i = 0; i < 256; ++i) {
+            for (int i = 0; i < 256; ++i)
+            {
                 if (remap[i] != 0)
                     remap[i] = layerId++;
                 else
                     remap[i] = 0xff;
             }
+
             // Remap ids.
             for (int i = 0; i < nregs; ++i)
                 regs[i].layerId = remap[regs[i].layerId];
 
             // No layers, return empty.
-        if (layerId == 0) {
+            if (layerId == 0)
+            {
                 // ctx.stopTimer(RC_TIMER_BUILD_LAYERS);
                 return null;
             }
@@ -393,12 +438,14 @@ public class RecastLayers {
 
             HeightfieldLayerSet lset = new HeightfieldLayerSet();
             lset.layers = new HeightfieldLayerSet.HeightfieldLayer[layerId];
-        for (int i = 0; i < lset.layers.Length; i++) {
+            for (int i = 0; i < lset.layers.Length; i++)
+            {
                 lset.layers[i] = new HeightfieldLayerSet.HeightfieldLayer();
             }
 
             // Store layers.
-        for (int i = 0; i < lset.layers.Length; ++i) {
+            for (int i = 0; i < lset.layers.Length; ++i)
+            {
                 int curId = i;
 
                 HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i];
@@ -412,8 +459,10 @@ public class RecastLayers {
 
                 // Find layer height bounds.
                 int hmin = 0, hmax = 0;
-            for (int j = 0; j < nregs; ++j) {
+                for (int j = 0; j < nregs; ++j)
-                if (regs[j].@base && regs[j].layerId == curId) {
+                {
+                    if (regs[j].@base && regs[j].layerId == curId)
+                    {
                         hmin = regs[j].ymin;
                         hmax = regs[j].ymax;
                     }
@@ -439,12 +488,15 @@ public class RecastLayers {
                 layer.maxy = 0;
 
                 // Copy height and area from compact heightfield.
-            for (int y = 0; y < lh; ++y) {
+                for (int y = 0; y < lh; ++y)
-                for (int x = 0; x < lw; ++x) {
+                {
+                    for (int x = 0; x < lw; ++x)
+                    {
                         int cx = borderSize + x;
                         int cy = borderSize + y;
                         CompactCell c = chf.cells[cx + cy * w];
-                    for (int j = c.index, nj = c.index + c.count; j < nj; ++j) {
+                        for (int j = c.index, nj = c.index + c.count; j < nj; ++j)
+                        {
                             CompactSpan s = chf.spans[j];
                             // Skip unassigned regions.
                             if (srcReg[j] == 0xff)
@@ -462,29 +514,34 @@ public class RecastLayers {
 
                             // Store height and area type.
                             int idx = x + y * lw;
-                        layer.heights[idx] = (char) (s.y - hmin);
+                            layer.heights[idx] = (char)(s.y - hmin);
                             layer.areas[idx] = chf.areas[j];
 
                             // Check connection.
                             char portal = (char)0;
                             char con = (char)0;
-                        for (int dir = 0; dir < 4; ++dir) {
+                            for (int dir = 0; dir < 4; ++dir)
-                            if (GetCon(s, dir) != RC_NOT_CONNECTED) {
+                            {
+                                if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                                {
                                     int ax = cx + GetDirOffsetX(dir);
                                     int ay = cy + GetDirOffsetY(dir);
                                     int ai = chf.cells[ax + ay * w].index + GetCon(s, dir);
                                     int alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
                                     // Portal mask
-                                if (chf.areas[ai] != RC_NULL_AREA && lid != alid) {
+                                    if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
+                                    {
                                         portal |= (char)(1 << dir);
                                         // Update height so that it matches on both
                                         // sides of the portal.
                                         CompactSpan @as = chf.spans[ai];
                                         if (@as.y > hmin)
-                                        layer.heights[idx] = Math.Max(layer.heights[idx], (char) (@as.y - hmin));
+                                            layer.heights[idx] = Math.Max(layer.heights[idx], (char)(@as.y - hmin));
                                     }
+
                                     // Valid connection mask
-                                if (chf.areas[ai] != RC_NULL_AREA && lid == alid) {
+                                    if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
+                                    {
                                         int nx = ax - borderSize;
                                         int ny = ay - borderSize;
                                         if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
@@ -492,6 +549,7 @@ public class RecastLayers {
                                     }
                                 }
                             }
+
                             layer.cons[idx] = (portal << 4) | con;
                         }
                     }
@@ -506,6 +564,5 @@ public class RecastLayers {
             // ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
             return lset;
         }
-}
+    }
-
 }

src/DotRecast.Recast/RecastRasterization.cs

@@ -22,12 +22,10 @@ using System;
 
 namespace DotRecast.Recast
 {
+    using static RecastConstants;
 
-
+    public class RecastRasterization
-using static RecastConstants;
+    {
-
-public class RecastRasterization
-{
         /**
      * Check whether two bounding boxes overlap
      *
@@ -483,5 +481,5 @@ public class RecastRasterization
 
             ctx.stopTimer("RASTERIZE_TRIANGLES");
         }
-}
+    }
 }

src/DotRecast.Recast/RecastVectors.cs

@@ -22,10 +22,8 @@ using System;
 
 namespace DotRecast.Recast
 {
-
+    public static class RecastVectors
-
+    {
-public static class RecastVectors
-{
         public static void min(float[] a, float[] b, int i)
         {
             a[0] = Math.Min(a[0], b[i + 0]);
@@ -97,5 +95,5 @@ public static class RecastVectors
         {
             return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
         }
-}
+    }
 }

src/DotRecast.Recast/RecastVoxelization.cs

@@ -21,12 +21,11 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-
+    public class RecastVoxelization
-
+    {
-public class RecastVoxelization {
-
         public static Heightfield buildSolidHeightfield(InputGeomProvider geomProvider, RecastBuilderConfig builderCfg,
-            Telemetry ctx) {
+            Telemetry ctx)
+        {
             RecastConfig cfg = builderCfg.cfg;
 
             // Allocate voxel heightfield where we rasterize our input data to.
@@ -43,9 +42,11 @@ public class RecastVoxelization {
             // 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 (TriMesh geom in geomProvider.meshes()) {
+            foreach (TriMesh geom in geomProvider.meshes())
+            {
                 float[] verts = geom.getVerts();
-            if (cfg.useTiles) {
+                if (cfg.useTiles)
+                {
                     float[] tbmin = new float[2];
                     float[] tbmax = new float[2];
                     tbmin[0] = builderCfg.bmin[0];
@@ -53,14 +54,17 @@ public class RecastVoxelization {
                     tbmax[0] = builderCfg.bmax[0];
                     tbmax[1] = builderCfg.bmax[2];
                     List<ChunkyTriMeshNode> nodes = geom.getChunksOverlappingRect(tbmin, tbmax);
-                foreach (ChunkyTriMeshNode node in nodes) {
+                    foreach (ChunkyTriMeshNode node in nodes)
+                    {
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
                         int[] m_triareas = Recast.markWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris,
                             cfg.walkableAreaMod);
                         RecastRasterization.rasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.walkableClimb, ctx);
                     }
-            } else {
+                }
+                else
+                {
                     int[] tris = geom.getTris();
                     int ntris = tris.Length / 3;
                     int[] m_triareas = Recast.markWalkableTriangles(ctx, cfg.walkableSlopeAngle, verts, tris, ntris,
@@ -71,7 +75,5 @@ public class RecastVoxelization {
 
             return solid;
         }
-
+    }
-}
-
 }

src/DotRecast.Recast/Span.cs

@@ -17,22 +17,22 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+
 namespace DotRecast.Recast
 {
-
+    /** Represents a span in a heightfield. */
-
+    public class Span
-/** Represents a span in a heightfield. */
+    {
-public class Span {
-
         /** The lower limit of the span. [Limit: < smax] */
         public int smin;
+
         /** The upper limit of the span. [Limit: <= SPAN_MAX_HEIGHT] */
         public int smax;
+
         /** The area id assigned to the span. */
         public int area;
+
         /** The next span higher up in column. */
         public Span next;
-
+    }
-}
-
 }

src/DotRecast.Recast/Telemetry.cs

@@ -25,10 +25,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-
+    public class Telemetry
-
+    {
-public class Telemetry
-{
         private readonly ThreadLocal<Dictionary<string, AtomicLong>> timerStart = new ThreadLocal<Dictionary<string, AtomicLong>>(() => new Dictionary<string, AtomicLong>());
         private readonly ConcurrentDictionary<string, AtomicLong> timerAccum = new ConcurrentDictionary<string, AtomicLong>();
 
@@ -56,5 +54,5 @@ public class Telemetry
                 Console.WriteLine(n + ": " + v.Read() / 1000000);
             }
         }
-}
+    }
 }

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

@@ -26,26 +26,33 @@ namespace DotRecast.Detour.Crowd.Test;
 
 using static DetourCommon;
 
-public class AbstractCrowdTest {
+public class AbstractCrowdTest
-
+{
-    protected readonly long[] startRefs = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L,
+    protected readonly long[] startRefs =
-            281474976710733L };
+    {
+        281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L,
+        281474976710733L
+    };
 
     protected readonly long[] endRefs = { 281474976710721L, 281474976710767L, 281474976710758L, 281474976710731L, 281474976710772L };
 
-    protected readonly float[][] startPoss = { 
+    protected readonly float[][] startPoss =
+    {
         new[] { 22.60652f, 10.197294f, -45.918674f },
         new[] { 22.331268f, 10.197294f, -1.0401875f },
         new[] { 18.694363f, 15.803535f, -73.090416f },
         new[] { 0.7453353f, 10.197294f, -5.94005f },
-        new[] { -20.651257f, 5.904126f, -13.712508f } };
+        new[] { -20.651257f, 5.904126f, -13.712508f }
+    };
 
-    protected readonly float[][] endPoss = { 
+    protected readonly float[][] endPoss =
+    {
         new[] { 6.4576626f, 10.197294f, -18.33406f },
         new[] { -5.8023443f, 0.19729415f, 3.008419f },
         new[] { 38.423977f, 10.197294f, -0.116066754f },
         new[] { 0.8635526f, 10.197294f, -10.31032f },
-            new[] { 18.784092f, 10.197294f, 3.0543678f } };
+        new[] { 18.784092f, 10.197294f, 3.0543678f }
+    };
 
     protected MeshData nmd;
     protected NavMeshQuery query;
@@ -54,7 +61,8 @@ public class AbstractCrowdTest {
     protected List<CrowdAgent> agents;
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
+    {
         nmd = new RecastTestMeshBuilder().getMeshData();
         navmesh = new NavMesh(nmd, 6, 0);
         query = new NavMeshQuery(navmesh);
@@ -87,7 +95,8 @@ public class AbstractCrowdTest {
         agents = new();
     }
 
-    protected CrowdAgentParams getAgentParams(int updateFlags, int obstacleAvoidanceType) {
+    protected CrowdAgentParams getAgentParams(int updateFlags, int obstacleAvoidanceType)
+    {
         CrowdAgentParams ap = new CrowdAgentParams();
         ap.radius = 0.6f;
         ap.height = 2f;
@@ -101,10 +110,13 @@ public class AbstractCrowdTest {
         return ap;
     }
 
-    protected void addAgentGrid(int size, float distance, int updateFlags, int obstacleAvoidanceType, float[] startPos) {
+    protected void addAgentGrid(int size, float distance, int updateFlags, int obstacleAvoidanceType, float[] startPos)
+    {
         CrowdAgentParams ap = getAgentParams(updateFlags, obstacleAvoidanceType);
-        for (int i = 0; i < size; i++) {
+        for (int i = 0; i < size; i++)
-            for (int j = 0; j < size; j++) {
+        {
+            for (int j = 0; j < size; j++)
+            {
                 float[] pos = new float[3];
                 pos[0] = startPos[0] + i * distance;
                 pos[1] = startPos[1];
@@ -114,23 +126,30 @@ public class AbstractCrowdTest {
         }
     }
 
-    protected void setMoveTarget(float[] pos, bool adjust) {
+    protected void setMoveTarget(float[] pos, bool adjust)
+    {
         float[] ext = crowd.getQueryExtents();
         QueryFilter filter = crowd.getFilter(0);
-        if (adjust) {
+        if (adjust)
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 float[] vel = calcVel(ag.npos, pos, ag.option.maxSpeed);
                 crowd.requestMoveVelocity(ag, vel);
             }
-        } else {
+        }
+        else
+        {
             Result<FindNearestPolyResult> nearest = query.findNearestPoly(pos, ext, filter);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 crowd.requestMoveTarget(ag, nearest.result.getNearestRef(), nearest.result.getNearestPos());
             }
         }
     }
 
-    protected float[] calcVel(float[] pos, float[] tgt, float speed) {
+    protected float[] calcVel(float[] pos, float[] tgt, float speed)
+    {
         float[] vel = vSub(tgt, pos);
         vel[1] = 0.0f;
         vNormalize(vel);
@@ -138,13 +157,14 @@ public class AbstractCrowdTest {
         return vel;
     }
 
-    protected void dumpActiveAgents(int i) {
+    protected void dumpActiveAgents(int i)
+    {
         Console.WriteLine(crowd.getActiveAgents().Count);
-        foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+        foreach (CrowdAgent ag in crowd.getActiveAgents())
+        {
             Console.WriteLine(ag.state + ", " + ag.targetState);
             Console.WriteLine(ag.npos[0] + ", " + ag.npos[1] + ", " + ag.npos[2]);
             Console.WriteLine(ag.nvel[0] + ", " + ag.nvel[1] + ", " + ag.nvel[2]);
         }
     }
-
 }

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

@@ -22,9 +22,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class Crowd1Test : AbstractCrowdTest {
+public class Crowd1Test : AbstractCrowdTest
-
+{
-    static readonly float[][] EXPECTED_A1Q0TVTA = {
+    static readonly float[][] EXPECTED_A1Q0TVTA =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -90,9 +91,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.442838f, 10.197294f, -18.328083f, 0.030522f, 0.000000f, -0.012308f },
         new[] { 6.447162f, 10.197294f, -18.329826f, 0.021620f, 0.000000f, -0.008717f },
         new[] { 6.450224f, 10.197294f, -18.331062f, 0.015314f, 0.000000f, -0.006175f },
-            new[] { 6.450224f, 10.197294f, -18.331062f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.450224f, 10.197294f, -18.331062f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q0TVT = {
+    static readonly float[][] EXPECTED_A1Q0TVT =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -155,9 +158,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.447767f, 10.197294f, -18.358591f, 0.069268f, 0.000000f, 0.171711f },
         new[] { 6.453539f, 10.197294f, -18.344282f, 0.028861f, 0.000000f, 0.071547f },
         new[] { 6.455945f, 10.197294f, -18.338320f, 0.012026f, 0.000000f, 0.029813f },
-            new[] { 6.455945f, 10.197294f, -18.338320f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.455945f, 10.197294f, -18.338320f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q0TV = {
+    static readonly float[][] EXPECTED_A1Q0TV =
+    {
         new[] { 22.333418f, 10.197294f, -45.751896f, -2.987050f, 0.000000f, 1.824153f },
         new[] { 21.787214f, 10.197294f, -45.418335f, -2.987049f, 0.000000f, 1.824153f },
         new[] { 21.189804f, 10.197294f, -45.053505f, -2.987050f, 0.000000f, 1.824153f },
@@ -220,9 +225,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.447869f, 10.197294f, -18.358244f, 0.068554f, 0.000000f, 0.169280f },
         new[] { 6.453582f, 10.197294f, -18.344137f, 0.028564f, 0.000000f, 0.070535f },
         new[] { 6.455962f, 10.197294f, -18.338259f, 0.011902f, 0.000000f, 0.029390f },
-            new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q0T = { 
+    static readonly float[][] EXPECTED_A1Q0T =
+    {
         new[] { 22.333418f, 10.197294f, -45.751896f, -2.987050f, 0.000000f, 1.824153f },
         new[] { 21.787214f, 10.197294f, -45.418335f, -2.987049f, 0.000000f, 1.824153f },
         new[] { 21.189804f, 10.197294f, -45.053505f, -2.987050f, 0.000000f, 1.824153f },
@@ -285,9 +292,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.447869f, 10.197294f, -18.358244f, 0.068554f, 0.000000f, 0.169280f },
         new[] { 6.453582f, 10.197294f, -18.344137f, 0.028564f, 0.000000f, 0.070535f },
         new[] { 6.455962f, 10.197294f, -18.338259f, 0.011902f, 0.000000f, 0.029390f },
-            new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.455962f, 10.197294f, -18.338259f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q1TVTA = {
+    static readonly float[][] EXPECTED_A1Q1TVTA =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -351,9 +360,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.447618f, 10.197294f, -18.344862f, 0.020681f, 0.000000f, 0.022238f },
         new[] { 6.450547f, 10.197294f, -18.341711f, 0.014649f, 0.000000f, 0.015752f },
         new[] { 6.452622f, 10.197294f, -18.339479f, 0.010377f, 0.000000f, 0.011157f },
-            new[] { 6.452622f, 10.197294f, -18.339479f, 0.000000f, 0.000000f, 0.000000f }, };
+        new[] { 6.452622f, 10.197294f, -18.339479f, 0.000000f, 0.000000f, 0.000000f },
+    };
 
-    static readonly float[][] EXPECTED_A1Q2TVTA = {
+    static readonly float[][] EXPECTED_A1Q2TVTA =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -417,9 +428,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.453821f, 10.197294f, -18.352995f, 0.007909f, 0.000000f, 0.038981f },
         new[] { 6.454941f, 10.197294f, -18.347473f, 0.005603f, 0.000000f, 0.027612f },
         new[] { 6.455735f, 10.197294f, -18.343561f, 0.003969f, 0.000000f, 0.019560f },
-            new[] { 6.455735f, 10.197294f, -18.343561f, 0.000000f, 0.000000f, 0.000000f }, };
+        new[] { 6.455735f, 10.197294f, -18.343561f, 0.000000f, 0.000000f, 0.000000f },
+    };
 
-    static readonly float[][] EXPECTED_A1Q3TVTA = {
+    static readonly float[][] EXPECTED_A1Q3TVTA =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -480,9 +493,11 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.397289f, 10.197294f, -18.479179f, 0.456429f, 0.000000f, 1.107728f },
         new[] { 6.439916f, 10.197294f, -18.384853f, 0.213137f, 0.000000f, 0.471627f },
         new[] { 6.454712f, 10.197294f, -18.342505f, 0.073981f, 0.000000f, 0.211745f },
-            new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q3TVTAS = {
+    static readonly float[][] EXPECTED_A1Q3TVTAS =
+    {
         new[] { 22.322426f, 10.197294f, -45.771397f, -3.107285f, 0.000000f, 1.610831f },
         new[] { 21.754303f, 10.197294f, -45.476715f, -3.106887f, 0.000000f, 1.611599f },
         new[] { 21.133097f, 10.197294f, -45.154068f, -3.106033f, 0.000000f, 1.613245f },
@@ -543,18 +558,22 @@ public class Crowd1Test : AbstractCrowdTest {
         new[] { 6.397289f, 10.197294f, -18.479179f, 0.456429f, 0.000000f, 1.107728f },
         new[] { 6.439916f, 10.197294f, -18.384853f, 0.213137f, 0.000000f, 0.471627f },
         new[] { 6.454712f, 10.197294f, -18.342505f, 0.073981f, 0.000000f, 0.211745f },
-            new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f } };
+        new[] { 6.454712f, 10.197294f, -18.342505f, 0.000000f, 0.000000f, 0.000000f }
+    };
 
     [Test]
-    public void testAgent1Quality0TVTA() {
+    public void testAgent1Quality0TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q0TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q0TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TVTA[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TVTA[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TVTA[i][2]).Within(0.001f));
@@ -566,15 +585,18 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality0TVT() {
+    public void testAgent1Quality0TVT()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO;
 
         addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q0TVT.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q0TVT.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TVT[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TVT[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TVT[i][2]).Within(0.001f));
@@ -586,14 +608,17 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality0TV() {
+    public void testAgent1Quality0TV()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS;
 
         addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q0TV.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q0TV.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0TV[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0TV[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0TV[i][2]).Within(0.001f));
@@ -605,14 +630,17 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality0T() {
+    public void testAgent1Quality0T()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO;
 
         addAgentGrid(1, 0.4f, updateFlags, 0, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q0T.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q0T.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q0T[i][0]).Within(0.001));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q0T[i][1]).Within(0.001));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q0T[i][2]).Within(0.001));
@@ -624,15 +652,18 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality1TVTA() {
+    public void testAgent1Quality1TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(1, 0.4f, updateFlags, 1, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q1TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q1TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q1TVTA[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q1TVTA[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q1TVTA[i][2]).Within(0.001f));
@@ -644,15 +675,18 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality2TVTA() {
+    public void testAgent1Quality2TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(1, 0.4f, updateFlags, 2, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2TVTA[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2TVTA[i][2]).Within(0.001f));
@@ -664,15 +698,18 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality3TVTA() {
+    public void testAgent1Quality3TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(1, 0.4f, updateFlags, 3, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][2]).Within(0.001f));
@@ -684,16 +721,19 @@ public class Crowd1Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality3TVTAS() {
+    public void testAgent1Quality3TVTAS()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE
                                                                      | CrowdAgentParams.DT_CROWD_SEPARATION;
 
         addAgentGrid(1, 0.4f, updateFlags, 3, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q3TVTAS.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q3TVTAS.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
+            foreach (CrowdAgent ag in crowd.getActiveAgents())
+            {
                 Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][0]).Within(0.001f));
                 Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][1]).Within(0.001f));
                 Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q3TVTAS[i][2]).Within(0.001f));
@@ -703,5 +743,4 @@ public class Crowd1Test : AbstractCrowdTest {
             }
         }
     }
-
 }

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

@@ -24,9 +24,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class Crowd4Test : AbstractCrowdTest {
+public class Crowd4Test : AbstractCrowdTest
-
+{
-    static readonly float[][] EXPECTED_A1Q2TVTA = {
+    static readonly float[][] EXPECTED_A1Q2TVTA =
+    {
         new[] { 23.275612f, 10.197294f, -46.233074f, 0.061640f, 0.000000f, 0.073828f },
         new[] { 23.350517f, 10.197294f, -46.304905f, 0.030557f, 0.000000f, 0.118703f },
         new[] { 23.347885f, 10.197294f, -46.331837f, -0.024102f, 0.000000f, -0.093108f },
@@ -118,9 +119,11 @@ public class Crowd4Test : AbstractCrowdTest {
         new[] { 7.099013f, 10.197294f, -18.064573f, -0.150015f, 0.000000f, 0.647393f },
         new[] { 7.085871f, 10.197294f, -17.946556f, -0.065714f, 0.000000f, 0.590090f },
         new[] { 7.067722f, 10.197294f, -17.801628f, -0.090745f, 0.000000f, 0.724639f },
-            new[] { 7.048226f, 10.197294f, -17.673695f, -0.097479f, 0.000000f, 0.639666f } };
+        new[] { 7.048226f, 10.197294f, -17.673695f, -0.097479f, 0.000000f, 0.639666f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q2TVTAS = {
+    static readonly float[][] EXPECTED_A1Q2TVTAS =
+    {
         new[] { 23.253357f, 10.197294f, -46.279934f, 0.074597f, 0.000000f, -0.017069f },
         new[] { 23.336805f, 10.197294f, -46.374985f, 0.119401f, 0.000000f, -0.031009f },
         new[] { 23.351542f, 10.197294f, -46.410728f, 0.053426f, 0.000000f, -0.093556f },
@@ -228,9 +231,11 @@ public class Crowd4Test : AbstractCrowdTest {
         new[] { 5.764818f, 10.197294f, -19.506109f, -0.043161f, 0.000000f, 0.194928f },
         new[] { 5.769928f, 10.197294f, -19.497072f, 0.025550f, 0.000000f, 0.045183f },
         new[] { 5.753877f, 10.197294f, -19.524942f, -0.080258f, 0.000000f, -0.139354f },
-            new[] { 5.731219f, 10.197294f, -19.533819f, -0.113286f, 0.000000f, -0.044384f } };
+        new[] { 5.731219f, 10.197294f, -19.533819f, -0.113286f, 0.000000f, -0.044384f }
+    };
 
-    static readonly float[][] EXPECTED_A1Q2T = { 
+    static readonly float[][] EXPECTED_A1Q2T =
+    {
         new[] { 22.990597f, 10.197294f, -46.112606f, -2.999564f, 0.000000f, 1.803501f },
         new[] { 22.524744f, 10.197294f, -45.867702f, -2.989815f, 0.000000f, 1.819617f },
         new[] { 21.946421f, 10.197294f, -45.530769f, -2.987121f, 0.000000f, 1.824035f },
@@ -296,16 +301,19 @@ public class Crowd4Test : AbstractCrowdTest {
         new[] { 5.947361f, 10.197294f, -19.047245f, 1.574677f, 0.000000f, 2.491868f },
         new[] { 5.960892f, 10.197294f, -18.990824f, 1.488381f, 0.000000f, 2.080121f },
         new[] { 5.971087f, 10.197294f, -18.963556f, 1.448915f, 0.000000f, 1.915559f },
-            new[] { 5.977089f, 10.197294f, -18.950905f, 1.419177f, 0.000000f, 1.836029f } };
+        new[] { 5.977089f, 10.197294f, -18.950905f, 1.419177f, 0.000000f, 1.836029f }
+    };
 
     [Test]
-    public void testAgent1Quality2TVTA() {
+    public void testAgent1Quality2TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q2TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
             CrowdAgent ag = agents[2];
             Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTA[i][0]).Within(0.001f), $"{i}");
@@ -318,14 +326,16 @@ public class Crowd4Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality2TVTAS() {
+    public void testAgent1Quality2TVTAS()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE
                                                                      | CrowdAgentParams.DT_CROWD_SEPARATION;
 
         addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]);
         setMoveTarget(endPoss[0], false);
-        for (int i = 0; i < EXPECTED_A1Q2TVTAS.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q2TVTAS.Length; i++)
+        {
             crowd.update(1 / 5f, null);
             CrowdAgent ag = agents[2];
             Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2TVTAS[i][0]).Within(0.001f), $"{i}");
@@ -338,7 +348,8 @@ public class Crowd4Test : AbstractCrowdTest {
     }
 
     [Test]
-    public void testAgent1Quality2T() {
+    public void testAgent1Quality2T()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO;
 
         addAgentGrid(2, 0.3f, updateFlags, 2, startPoss[0]);
@@ -352,12 +363,18 @@ public class Crowd4Test : AbstractCrowdTest {
 
             crowd.update(1 / 5f, null);
             CrowdAgent ag = agents[2];
-            Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2T[i][0]).Within(0.00001f), $"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}"); Console.WriteLine($"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}");
+            Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q2T[i][0]).Within(0.00001f), $"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}");
-            Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2T[i][1]).Within(0.00001f), $"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}"); Console.WriteLine($"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}");
+            Console.WriteLine($"{i} - {ag.npos[0]} {EXPECTED_A1Q2T[i][0]}");
-            Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2T[i][2]).Within(0.00001f), $"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}"); Console.WriteLine($"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}");
+            Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q2T[i][1]).Within(0.00001f), $"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}");
-            Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2T[i][3]).Within(0.00001f), $"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}"); Console.WriteLine($"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}");
+            Console.WriteLine($"{i} - {ag.npos[1]} {EXPECTED_A1Q2T[i][1]}");
-            Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2T[i][4]).Within(0.00001f), $"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}"); Console.WriteLine($"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}");
+            Assert.That(ag.npos[2], Is.EqualTo(EXPECTED_A1Q2T[i][2]).Within(0.00001f), $"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}");
-            Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2T[i][5]).Within(0.00001f), $"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}"); Console.WriteLine($"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}");
+            Console.WriteLine($"{i} - {ag.npos[2]} {EXPECTED_A1Q2T[i][2]}");
+            Assert.That(ag.nvel[0], Is.EqualTo(EXPECTED_A1Q2T[i][3]).Within(0.00001f), $"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}");
+            Console.WriteLine($"{i} - {ag.nvel[0]} {EXPECTED_A1Q2T[i][3]}");
+            Assert.That(ag.nvel[1], Is.EqualTo(EXPECTED_A1Q2T[i][4]).Within(0.00001f), $"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}");
+            Console.WriteLine($"{i} - {ag.nvel[1]} {EXPECTED_A1Q2T[i][4]}");
+            Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q2T[i][5]).Within(0.00001f), $"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}");
+            Console.WriteLine($"{i} - {ag.nvel[2]} {EXPECTED_A1Q2T[i][5]}");
             Thread.Sleep(1);
         }
     }

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

@@ -22,10 +22,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class Crowd4VelocityTest : AbstractCrowdTest {
+public class Crowd4VelocityTest : AbstractCrowdTest
-
+{
-    static readonly float[][] EXPECTED_A1Q3TVTA = {
+    static readonly float[][] EXPECTED_A1Q3TVTA =
-
+    {
         new[] { 6.101694f, 10.197294f, -17.678480f, 0.000000f, 0.000000f, 0.000000f },
         new[] { 6.024141f, 10.197294f, -17.589798f, -0.107331f, 0.000000f, 0.098730f },
         new[] { 6.004839f, 10.197294f, -17.554886f, -0.096506f, 0.000000f, 0.174561f },
@@ -92,20 +92,25 @@ public class Crowd4VelocityTest : AbstractCrowdTest {
         new[] { 4.320761f, 10.197294f, -8.089768f, -0.003438f, 0.000000f, -0.072332f },
         new[] { 4.337994f, 10.197294f, -8.081223f, 0.086165f, 0.000000f, 0.042728f },
         new[] { 4.328456f, 10.197294f, -8.057701f, -0.047688f, 0.000000f, 0.117607f },
-            new[] { 4.327769f, 10.197294f, -8.072167f, -0.003438f, 0.000000f, -0.072332f } };
+        new[] { 4.327769f, 10.197294f, -8.072167f, -0.003438f, 0.000000f, -0.072332f }
+    };
 
     [Test]
-    public void testAgent1Quality3TVTA() {
+    public void testAgent1Quality3TVTA()
+    {
         int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
                                                                      | CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
 
         addAgentGrid(2, 0.3f, updateFlags, 3, endPoss[0]);
         setMoveTarget(endPoss[4], false);
-        for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++) {
+        for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++)
+        {
             crowd.update(1 / 5f, null);
-            if (i == 20) {
+            if (i == 20)
+            {
                 setMoveTarget(startPoss[2], true);
             }
+
             CrowdAgent ag = agents[1];
             Assert.That(ag.npos[0], Is.EqualTo(EXPECTED_A1Q3TVTA[i][0]).Within(0.001f));
             Assert.That(ag.npos[1], Is.EqualTo(EXPECTED_A1Q3TVTA[i][1]).Within(0.001f));
@@ -115,5 +120,4 @@ public class Crowd4VelocityTest : AbstractCrowdTest {
             Assert.That(ag.nvel[2], Is.EqualTo(EXPECTED_A1Q3TVTA[i][5]).Within(0.001f));
         }
     }
-
 }

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

@@ -8,11 +8,11 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
-    <PackageReference Include="Moq" Version="4.18.4" />
+        <PackageReference Include="Moq" Version="4.18.4"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -20,9 +20,9 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Detour.Crowd\DotRecast.Detour.Crowd.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour.Crowd\DotRecast.Detour.Crowd.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

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

@@ -22,18 +22,20 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class PathCorridorTest {
+public class PathCorridorTest
-
+{
     private readonly PathCorridor corridor = new PathCorridor();
     private readonly QueryFilter filter = new DefaultQueryFilter();
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
-        corridor.reset(0, new float[] {10,20,30});
+    {
+        corridor.reset(0, new float[] { 10, 20, 30 });
     }
 
     [Test]
-    public void shouldKeepOriginalPathInFindCornersWhenNothingCanBePruned() {
+    public void shouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
+    {
         List<StraightPathItem> straightPath = new();
         straightPath.Add(new StraightPathItem(new float[] { 11, 20, 30.00001f }, 0, 0));
         straightPath.Add(new StraightPathItem(new float[] { 12, 20, 30.00002f }, 0, 0));
@@ -54,7 +56,8 @@ public class PathCorridorTest {
     }
 
     [Test]
-    public void shouldPrunePathInFindCorners() {
+    public void shouldPrunePathInFindCorners()
+    {
         List<StraightPathItem> straightPath = new();
         straightPath.Add(new StraightPathItem(new float[] { 10, 20, 30.00001f }, 0, 0)); // too close
         straightPath.Add(new StraightPathItem(new float[] { 10, 20, 30.00002f }, 0, 0)); // too close
@@ -76,5 +79,4 @@ public class PathCorridorTest {
         Assert.That(path.Count, Is.EqualTo(2));
         Assert.That(path, Is.EqualTo(new List<StraightPathItem> { straightPath[2], straightPath[3] }));
     }
-
 }

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

@@ -22,8 +22,8 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class RecastTestMeshBuilder {
+public class RecastTestMeshBuilder
-
+{
     private readonly MeshData meshData;
     public const float m_cellSize = 0.3f;
     public const float m_cellHeight = 0.2f;
@@ -49,7 +49,8 @@ public class RecastTestMeshBuilder {
     public RecastTestMeshBuilder(InputGeomProvider m_geom, PartitionType m_partitionType, float m_cellSize,
         float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope,
         int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly,
-            float m_detailSampleDist, float m_detailSampleMaxError) {
+        float m_detailSampleDist, float m_detailSampleMaxError)
+    {
         RecastConfig cfg = new RecastConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius,
             m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError,
             m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
@@ -57,9 +58,11 @@ public class RecastTestMeshBuilder {
         RecastBuilder rcBuilder = new RecastBuilder();
         RecastBuilderResult rcResult = rcBuilder.build(m_geom, bcfg);
         PolyMesh m_pmesh = rcResult.getMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i) {
+        for (int i = 0; i < m_pmesh.npolys; ++i)
+        {
             m_pmesh.flags[i] = 1;
         }
+
         PolyMeshDetail m_dmesh = rcResult.getMeshDetail();
         NavMeshDataCreateParams option = new NavMeshDataCreateParams();
         option.verts = m_pmesh.verts;
@@ -104,7 +107,8 @@ public class RecastTestMeshBuilder {
         meshData = NavMeshBuilder.createNavMeshData(option);
     }
 
-    public MeshData getMeshData() {
+    public MeshData getMeshData()
+    {
         return meshData;
     }
 }

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

@@ -20,8 +20,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class SampleAreaModifications {
+public class SampleAreaModifications
-
+{
     public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07;
     public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1;
     public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2;
@@ -32,14 +32,19 @@ public class SampleAreaModifications {
 
     public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR,
         SAMPLE_POLYAREA_TYPE_DOOR);
+
     public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP,
         SAMPLE_POLYAREA_TYPE_JUMP);
 

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

@@ -6,11 +6,11 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
-    <PackageReference Include="Moq" Version="4.18.4" />
+        <PackageReference Include="Moq" Version="4.18.4"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -18,9 +18,9 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Detour.Dynamic\DotRecast.Detour.Dynamic.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour.Dynamic\DotRecast.Detour.Dynamic.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

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

@@ -8,8 +8,8 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-public class DynamicNavMeshTest {
+public class DynamicNavMeshTest
-
+{
     private static readonly float[] START_POS = new float[] { 70.87453f, 0.0010070801f, 86.69021f };
     private static readonly float[] END_POS = new float[] { -50.22061f, 0.0010070801f, -70.761444f };
     private static readonly float[] EXTENT = new float[] { 0.1f, 0.1f, 0.1f };
@@ -17,7 +17,8 @@ public class DynamicNavMeshTest {
 
 
     [Test]
-    public void e2eTest() {
+    public void e2eTest()
+    {
         byte[] bytes = Loader.ToBytes("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);

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

@@ -23,10 +23,11 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-public class VoxelFileReaderTest {
+public class VoxelFileReaderTest
-
+{
     [Test]
-    public void shouldReadSingleTileFile() {
+    public void shouldReadSingleTileFile()
+    {
         byte[] bytes = Loader.ToBytes("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);
@@ -34,7 +35,7 @@ public class VoxelFileReaderTest {
         VoxelFileReader reader = new VoxelFileReader();
         VoxelFile f = reader.read(bis);
         Assert.That(f.useTiles, Is.False);
-        Assert.That(f.bounds, Is.EqualTo(new float[] {-100.0f, 0f, -100f, 100f, 5f, 100f}));
+        Assert.That(f.bounds, Is.EqualTo(new float[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));
         Assert.That(f.cellSize, Is.EqualTo(0.25f));
         Assert.That(f.walkableRadius, Is.EqualTo(0.5f));
         Assert.That(f.walkableHeight, Is.EqualTo(2f));
@@ -46,12 +47,13 @@ public class VoxelFileReaderTest {
         Assert.That(f.tiles[0].cellHeight, Is.EqualTo(0.001f));
         Assert.That(f.tiles[0].width, Is.EqualTo(810));
         Assert.That(f.tiles[0].depth, Is.EqualTo(810));
-        Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new float[] {-101.25f, 0f, -101.25f}));
+        Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new float[] { -101.25f, 0f, -101.25f }));
-        Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new float[] {101.25f, 5.0f, 101.25f}));
+        Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new float[] { 101.25f, 5.0f, 101.25f }));
     }
 
     [Test]
-    public void shouldReadMultiTileFile() {
+    public void shouldReadMultiTileFile()
+    {
         byte[] bytes = Loader.ToBytes("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);

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

@@ -23,11 +23,12 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-public class VoxelFileReaderWriterTest {
+public class VoxelFileReaderWriterTest
-
+{
     [TestCase(false)]
     [TestCase(true)]
-    public void shouldReadSingleTileFile(bool compression) {
+    public void shouldReadSingleTileFile(bool compression)
+    {
         byte[] bytes = Loader.ToBytes("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);
@@ -54,7 +55,8 @@ public class VoxelFileReaderWriterTest {
 
     [TestCase(false)]
     [TestCase(true)]
-    public void shouldReadMultiTileFile(bool compression) {
+    public void shouldReadMultiTileFile(bool compression)
+    {
         byte[] bytes = Loader.ToBytes("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);
@@ -62,7 +64,7 @@ public class VoxelFileReaderWriterTest {
         VoxelFile f = readWriteRead(bis, compression);
 
         Assert.That(f.useTiles, Is.True);
-        Assert.That(f.bounds, Is.EqualTo(new[] {-100.0f, 0f, -100f, 100f, 5f, 100f}));
+        Assert.That(f.bounds, Is.EqualTo(new[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));
         Assert.That(f.cellSize, Is.EqualTo(0.25f));
         Assert.That(f.walkableRadius, Is.EqualTo(0.5f));
         Assert.That(f.walkableHeight, Is.EqualTo(2f));
@@ -78,12 +80,12 @@ public class VoxelFileReaderWriterTest {
         Assert.That(f.tiles[0].spanData.Length, Is.EqualTo(104952));
         Assert.That(f.tiles[5].spanData.Length, Is.EqualTo(109080));
         Assert.That(f.tiles[18].spanData.Length, Is.EqualTo(113400));
-        Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new[] {-101.25f, 0f, -101.25f}));
+        Assert.That(f.tiles[0].boundsMin, Is.EqualTo(new[] { -101.25f, 0f, -101.25f }));
-        Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new[] {-78.75f, 5.0f, -78.75f}));
+        Assert.That(f.tiles[0].boundsMax, Is.EqualTo(new[] { -78.75f, 5.0f, -78.75f }));
-
     }
 
-    private VoxelFile readWriteRead(BinaryReader bis, bool compression) {
+    private VoxelFile readWriteRead(BinaryReader bis, bool compression)
+    {
         VoxelFileReader reader = new VoxelFileReader();
         VoxelFile f = reader.read(bis);
 
@@ -96,5 +98,4 @@ public class VoxelFileReaderWriterTest {
         using var brIn = new BinaryReader(msIn);
         return reader.read(brIn);
     }
-
 }

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

@@ -20,8 +20,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-public class SampleAreaModifications {
+public class SampleAreaModifications
-
+{
     public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07;
     public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1;
     public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2;
@@ -32,14 +32,19 @@ public class SampleAreaModifications {
 
     public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR,
         SAMPLE_POLYAREA_TYPE_DOOR);
+
     public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP,
         SAMPLE_POLYAREA_TYPE_JUMP);
 

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

@@ -28,8 +28,8 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-public class VoxelQueryTest {
+public class VoxelQueryTest
-
+{
     private const int TILE_WIDTH = 100;
     private const int TILE_DEPTH = 90;
     private static readonly float[] ORIGIN = new float[] { 50, 10, 40 };
@@ -61,12 +61,13 @@ public class VoxelQueryTest {
         query.raycast(start, end);
         // Then
         hfProvider.Verify(mock => mock.Invoke(It.IsAny<int>(), It.IsAny<int>()), Times.Exactly(6));
-        Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2}));
+        Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2 }));
-        Assert.That(captorZ, Is.EqualTo(new[] { 3, 3, 2, 1, 1, 0}));
+        Assert.That(captorZ, Is.EqualTo(new[] { 3, 3, 2, 1, 1, 0 }));
     }
 
     [Test]
-    public void shouldHandleRaycastWithoutObstacles() {
+    public void shouldHandleRaycastWithoutObstacles()
+    {
         DynamicNavMesh mesh = createDynaMesh();
         VoxelQuery query = mesh.voxelQuery();
         float[] start = { 7.4f, 0.5f, -64.8f };
@@ -76,7 +77,8 @@ public class VoxelQueryTest {
     }
 
     [Test]
-    public void shouldHandleRaycastWithObstacles() {
+    public void shouldHandleRaycastWithObstacles()
+    {
         DynamicNavMesh mesh = createDynaMesh();
         VoxelQuery query = mesh.voxelQuery();
         float[] start = { 32.3f, 0.5f, 47.9f };
@@ -86,7 +88,8 @@ public class VoxelQueryTest {
         Assert.That(hit.Value, Is.EqualTo(0.5263836f).Within(1e-7f));
     }
 
-    private DynamicNavMesh createDynaMesh() {
+    private DynamicNavMesh createDynaMesh()
+    {
         var bytes = Loader.ToBytes("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var bis = new BinaryReader(ms);

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

@@ -6,11 +6,11 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
-    <PackageReference Include="Moq" Version="4.18.4" />
+        <PackageReference Include="Moq" Version="4.18.4"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -18,9 +18,9 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Detour.Extras\DotRecast.Detour.Extras.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour.Extras\DotRecast.Detour.Extras.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

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

@@ -26,10 +26,11 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Extras.Test.Unity.Astar;
 
-public class UnityAStarPathfindingImporterTest {
+public class UnityAStarPathfindingImporterTest
-
+{
     [Test]
-    public void test_v4_0_6() {
+    public void test_v4_0_6()
+    {
         NavMesh mesh = loadNavMesh("graph.zip");
         float[] startPos = new float[] { 8.200293f, 2.155071f, -26.176147f };
         float[] endPos = new float[] { 11.971109f, 0.000000f, 8.663261f };
@@ -40,7 +41,8 @@ public class UnityAStarPathfindingImporterTest {
     }
 
     [Test]
-    public void test_v4_1_16() {
+    public void test_v4_1_16()
+    {
         NavMesh mesh = loadNavMesh("graph_v4_1_16.zip");
         float[] startPos = new float[] { 22.93f, -2.37f, -5.11f };
         float[] endPos = new float[] { 16.81f, -2.37f, 25.52f };
@@ -51,7 +53,8 @@ public class UnityAStarPathfindingImporterTest {
     }
 
     [Test]
-    public void testBoundsTree() {
+    public void testBoundsTree()
+    {
         NavMesh mesh = loadNavMesh("test_boundstree.zip");
         float[] position = { 387.52988f, 19.997f, 368.86282f };
 
@@ -72,7 +75,8 @@ public class UnityAStarPathfindingImporterTest {
         Assert.That(bvResult.getNearestRef(), Is.EqualTo(clearResult.getNearestRef()));
     }
 
-    private NavMesh loadNavMesh(string filename) {
+    private NavMesh loadNavMesh(string filename)
+    {
         var filepath = Loader.ToRPath(filename);
         using var fs = new FileStream(filepath, FileMode.Open);
 
@@ -83,7 +87,8 @@ public class UnityAStarPathfindingImporterTest {
         return meshes[0];
     }
 
-    private Result<List<long>> findPath(NavMesh mesh, float[] startPos, float[] endPos) {
+    private Result<List<long>> findPath(NavMesh mesh, float[] startPos, float[] endPos)
+    {
         // Perform a simple pathfinding
         NavMeshQuery query = new NavMeshQuery(mesh);
         QueryFilter filter = new DefaultQueryFilter();
@@ -92,26 +97,32 @@ public class UnityAStarPathfindingImporterTest {
         return query.findPath(polys[0].getNearestRef(), polys[1].getNearestRef(), startPos, endPos, filter);
     }
 
-    private FindNearestPolyResult[] getNearestPolys(NavMesh mesh, params float[][] positions) {
+    private FindNearestPolyResult[] getNearestPolys(NavMesh mesh, params float[][] positions)
+    {
         NavMeshQuery query = new NavMeshQuery(mesh);
         QueryFilter filter = new DefaultQueryFilter();
         float[] extents = new float[] { 0.1f, 0.1f, 0.1f };
 
         FindNearestPolyResult[] results = new FindNearestPolyResult[positions.Length];
-        for (int i = 0; i < results.Length; i++) {
+        for (int i = 0; i < results.Length; i++)
+        {
             float[] position = positions[i];
             Result<FindNearestPolyResult> result = query.findNearestPoly(position, extents, filter);
             Assert.That(result.succeeded(), Is.True);
             Assert.That(result.result.getNearestPos(), Is.Not.Null, "Nearest start position is null!");
             results[i] = result.result;
         }
+
         return results;
     }
 
-    private void saveMesh(NavMesh mesh, string filePostfix) {
+    private void saveMesh(NavMesh mesh, string filePostfix)
+    {
         // Set the flag to RecastDemo work properly
-        for (int i = 0; i < mesh.getTileCount(); i++) {
+        for (int i = 0; i < mesh.getTileCount(); i++)
-            foreach (Poly p in mesh.getTile(i).data.polys) {
+        {
+            foreach (Poly p in mesh.getTile(i).data.polys)
+            {
                 p.flags = 1;
             }
         }
@@ -124,5 +135,4 @@ public class UnityAStarPathfindingImporterTest {
         using var os = new BinaryWriter(fs);
         writer.write(os, mesh, ByteOrder.LITTLE_ENDIAN, true);
     }
-
 }

test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs

@@ -20,10 +20,11 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-public class ConvexConvexIntersectionTest {
+public class ConvexConvexIntersectionTest
-
+{
     [Test]
-    public void shouldHandleSamePolygonIntersection() {
+    public void shouldHandleSamePolygonIntersection()
+    {
         float[] p = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] intersection = ConvexConvexIntersection.intersect(p, q);
@@ -32,12 +33,12 @@ public class ConvexConvexIntersectionTest {
     }
 
     [Test]
-    public void shouldHandleIntersection() {
+    public void shouldHandleIntersection()
+    {
         float[] p = { -5, 0, -5, -5, 0, 4, 1, 0, 4, 1, 0, -5 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] intersection = ConvexConvexIntersection.intersect(p, q);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
         Assert.That(intersection, Is.EqualTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
     }
-
 }

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

@@ -8,10 +8,10 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -19,8 +19,8 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -20,29 +20,33 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class FindNearestPolyTest : AbstractDetourTest
-public class FindNearestPolyTest : AbstractDetourTest {
+{
-
     private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
-    private static readonly float[][] POLY_POS = { 
+
+    private static readonly float[][] POLY_POS =
+    {
         new[] { 22.606520f, 10.197294f, -45.918674f }, new[] { 22.331268f, 10.197294f, -1.040187f },
         new[] { 18.694363f, 15.803535f, -73.090416f }, new[] { 0.745335f, 10.197294f, -5.940050f },
-            new[] { -20.651257f, 5.904126f, -13.712508f } };
+        new[] { -20.651257f, 5.904126f, -13.712508f }
+    };
 
     [Test]
-    public void testFindNearestPoly() {
+    public void testFindNearestPoly()
+    {
         QueryFilter filter = new DefaultQueryFilter();
         float[] extents = { 2, 4, 2 };
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             float[] startPos = startPoss[i];
             Result<FindNearestPolyResult> poly = query.findNearestPoly(startPos, extents, filter);
             Assert.That(poly.succeeded(), Is.True);
             Assert.That(poly.result.getNearestRef(), Is.EqualTo(POLY_REFS[i]));
-            for (int v = 0; v < POLY_POS[i].Length; v++) {
+            for (int v = 0; v < POLY_POS[i].Length; v++)
+            {
                 Assert.That(poly.result.getNearestPos()[v], Is.EqualTo(POLY_POS[i][v]).Within(0.001f));
             }
         }
-
     }
 
     public class EmptyQueryFilter : QueryFilter
@@ -60,18 +64,20 @@ public class FindNearestPolyTest : AbstractDetourTest {
     }
 
     [Test]
-    public void shouldReturnStartPosWhenNoPolyIsValid() {
+    public void shouldReturnStartPosWhenNoPolyIsValid()
+    {
         var filter = new EmptyQueryFilter();
         float[] extents = { 2, 4, 2 };
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             float[] startPos = startPoss[i];
             Result<FindNearestPolyResult> poly = query.findNearestPoly(startPos, extents, filter);
             Assert.That(poly.succeeded(), Is.True);
             Assert.That(poly.result.getNearestRef(), Is.EqualTo(0L));
-            for (int v = 0; v < POLY_POS[i].Length; v++) {
+            for (int v = 0; v < POLY_POS[i].Length; v++)
+            {
                 Assert.That(poly.result.getNearestPos()[v], Is.EqualTo(startPos[v]).Within(0.001f));
             }
         }
-
     }
 }

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -21,42 +21,65 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+public class FindPathTest : AbstractDetourTest
+{
+    private static readonly Status[] STATUSES =
+    {
+        Status.SUCCSESS, Status.PARTIAL_RESULT, Status.SUCCSESS, Status.SUCCSESS,
+        Status.SUCCSESS
+    };
 
-public class FindPathTest : AbstractDetourTest {
+    private static readonly long[][] RESULTS =
-
+    {
-    private static readonly Status[] STATUSES = { Status.SUCCSESS, Status.PARTIAL_RESULT, Status.SUCCSESS, Status.SUCCSESS,
+        new[]
-            Status.SUCCSESS };
+        {
-    private static readonly long[][] RESULTS = {
+            281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
-            new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
             281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
-                    281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L },
+            281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L
-            new[] { 281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L,
+        },
+        new[]
+        {
+            281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L,
             281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L, 281474976710729L,
             281474976710717L, 281474976710724L, 281474976710728L, 281474976710737L, 281474976710738L,
             281474976710736L, 281474976710733L, 281474976710735L, 281474976710742L, 281474976710740L,
-                    281474976710746L, 281474976710745L, 281474976710744L },
+            281474976710746L, 281474976710745L, 281474976710744L
-            new[] { 281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L,
+        },
+        new[]
+        {
+            281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L,
             281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
             281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
             281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710729L,
             281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L,
             281474976710754L, 281474976710768L, 281474976710772L, 281474976710773L, 281474976710770L,
-                    281474976710757L, 281474976710761L, 281474976710758L },
+            281474976710757L, 281474976710761L, 281474976710758L
+        },
         new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
-            new[] { 281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L,
+        new[]
+        {
+            281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L,
             281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L,
             281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L,
-                    281474976710772L } };
+            281474976710772L
+        }
+    };
 
-    private static readonly StraightPathItem[][] STRAIGHT_PATHS = {
+    private static readonly StraightPathItem[][] STRAIGHT_PATHS =
-            new[] { new StraightPathItem(new float[] { 22.606520f, 10.197294f, -45.918674f }, 1, 281474976710696L),
+    {
+        new[]
+        {
+            new StraightPathItem(new float[] { 22.606520f, 10.197294f, -45.918674f }, 1, 281474976710696L),
             new StraightPathItem(new float[] { 3.484785f, 10.197294f, -34.241272f }, 0, 281474976710713L),
             new StraightPathItem(new float[] { 1.984785f, 10.197294f, -31.241272f }, 0, 281474976710712L),
             new StraightPathItem(new float[] { 1.984785f, 10.197294f, -29.741272f }, 0, 281474976710727L),
             new StraightPathItem(new float[] { 2.584784f, 10.197294f, -27.941273f }, 0, 281474976710730L),
-                    new StraightPathItem(new float[] { 6.457663f, 10.197294f, -18.334061f }, 2, 0L) },
+            new StraightPathItem(new float[] { 6.457663f, 10.197294f, -18.334061f }, 2, 0L)
+        },
 
-            new[] { new StraightPathItem(new float[] { 22.331268f, 10.197294f, -1.040187f }, 1, 281474976710773L),
+        new[]
+        {
+            new StraightPathItem(new float[] { 22.331268f, 10.197294f, -1.040187f }, 1, 281474976710773L),
             new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710755L),
             new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710753L),
             new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710752L),
@@ -66,9 +89,12 @@ public class FindPathTest : AbstractDetourTest {
             new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710736L),
             new StraightPathItem(new float[] { -17.815216f, 5.197294f, -11.441269f }, 0, 281474976710735L),
             new StraightPathItem(new float[] { -17.815216f, 5.197294f, -8.441269f }, 0, 281474976710746L),
-                    new StraightPathItem(new float[] { -11.815216f, 0.197294f, 3.008419f }, 2, 0L) },
+            new StraightPathItem(new float[] { -11.815216f, 0.197294f, 3.008419f }, 2, 0L)
+        },
 
-            new[] { new StraightPathItem(new float[] { 18.694363f, 15.803535f, -73.090416f }, 1, 281474976710680L),
+        new[]
+        {
+            new StraightPathItem(new float[] { 18.694363f, 15.803535f, -73.090416f }, 1, 281474976710680L),
             new StraightPathItem(new float[] { 17.584785f, 10.197294f, -49.841274f }, 0, 281474976710697L),
             new StraightPathItem(new float[] { 17.284786f, 10.197294f, -48.041275f }, 0, 281474976710695L),
             new StraightPathItem(new float[] { 16.084785f, 10.197294f, -45.341274f }, 0, 281474976710694L),
@@ -77,24 +103,34 @@ public class FindPathTest : AbstractDetourTest {
             new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L),
             new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L),
             new StraightPathItem(new float[] { 9.784786f, 10.197294f, -2.141273f }, 0, 281474976710768L),
-                    new StraightPathItem(new float[] { 38.423977f, 10.197294f, -0.116067f }, 2, 0L) },
+            new StraightPathItem(new float[] { 38.423977f, 10.197294f, -0.116067f }, 2, 0L)
+        },
 
-            new[] { new StraightPathItem(new float[] { 0.745335f, 10.197294f, -5.940050f }, 1, 281474976710753L),
+        new[]
-                    new StraightPathItem(new float[] { 0.863553f, 10.197294f, -10.310320f }, 2, 0L) },
+        {
+            new StraightPathItem(new float[] { 0.745335f, 10.197294f, -5.940050f }, 1, 281474976710753L),
+            new StraightPathItem(new float[] { 0.863553f, 10.197294f, -10.310320f }, 2, 0L)
+        },
 
-            new[] { new StraightPathItem(new float[] { -20.651257f, 5.904126f, -13.712508f }, 1, 281474976710733L),
+        new[]
+        {
+            new StraightPathItem(new float[] { -20.651257f, 5.904126f, -13.712508f }, 1, 281474976710733L),
             new StraightPathItem(new float[] { -11.815216f, 9.997294f, -17.441269f }, 0, 281474976710738L),
             new StraightPathItem(new float[] { -10.015216f, 10.197294f, -17.741272f }, 0, 281474976710728L),
             new StraightPathItem(new float[] { -8.215216f, 10.197294f, -17.441269f }, 0, 281474976710724L),
             new StraightPathItem(new float[] { -4.315216f, 10.197294f, -15.341270f }, 0, 281474976710729L),
             new StraightPathItem(new float[] { 1.984785f, 10.197294f, -8.441269f }, 0, 281474976710753L),
             new StraightPathItem(new float[] { 7.984783f, 10.197294f, -2.441269f }, 0, 281474976710755L),
-                    new StraightPathItem(new float[] { 18.784092f, 10.197294f, 3.054368f }, 2, 0L) } };
+            new StraightPathItem(new float[] { 18.784092f, 10.197294f, 3.054368f }, 2, 0L)
+        }
+    };
 
     [Test]
-    public void testFindPath() {
+    public void testFindPath()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             long endRef = endRefs[i];
             float[] startPos = startPoss[i];
@@ -102,40 +138,48 @@ public class FindPathTest : AbstractDetourTest {
             Result<List<long>> path = query.findPath(startRef, endRef, startPos, endPos, filter);
             Assert.That(path.status, Is.EqualTo(STATUSES[i]));
             Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
-            for (int j = 0; j < RESULTS[i].Length; j++) {
+            for (int j = 0; j < RESULTS[i].Length; j++)
+            {
                 Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j]));
             }
         }
     }
 
     [Test]
-    public void testFindPathSliced() {
+    public void testFindPathSliced()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             long endRef = endRefs[i];
             float[] startPos = startPoss[i];
             float[] endPos = endPoss[i];
             query.initSlicedFindPath(startRef, endRef, startPos, endPos, filter, NavMeshQuery.DT_FINDPATH_ANY_ANGLE);
             Status status = Status.IN_PROGRESS;
-            while (status == Status.IN_PROGRESS) {
+            while (status == Status.IN_PROGRESS)
+            {
                 Result<int> res = query.updateSlicedFindPath(10);
                 status = res.status;
             }
+
             Result<List<long>> path = query.finalizeSlicedFindPath();
             Assert.That(path.status, Is.EqualTo(STATUSES[i]));
             Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
-            for (int j = 0; j < RESULTS[i].Length; j++) {
+            for (int j = 0; j < RESULTS[i].Length; j++)
+            {
                 Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j]));
             }
-
         }
     }
 
     [Test]
-    public void testFindPathStraight() {
+    public void testFindPathStraight()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < STRAIGHT_PATHS.Length; i++) {// startRefs.Length; i++) {
+        for (int i = 0; i < STRAIGHT_PATHS.Length; i++)
+        {
+            // startRefs.Length; i++) {
             long startRef = startRefs[i];
             long endRef = endRefs[i];
             float[] startPos = startPoss[i];
@@ -145,14 +189,16 @@ public class FindPathTest : AbstractDetourTest {
                 int.MaxValue, 0);
             List<StraightPathItem> straightPath = result.result;
             Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
-            for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++) {
+            for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
+            {
                 Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));
-                for (int v = 0; v < 3; v++) {
+                for (int v = 0; v < 3; v++)
+                {
                     Assert.That(straightPath[j].pos[v], Is.EqualTo(STRAIGHT_PATHS[i][j].pos[v]).Within(0.01f));
                 }
+
                 Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags));
             }
         }
     }
-
 }

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -20,64 +20,108 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class FindPolysAroundCircleTest : AbstractDetourTest
-public class FindPolysAroundCircleTest : AbstractDetourTest {
+{
-
+    private static readonly long[][] REFS =
-    private static readonly long[][] REFS = {
+    {
-            new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L, 281474976710693L,
+        new[]
-                    281474976710686L, 281474976710687L, 281474976710692L, 281474976710703L, 281474976710689L },
+        {
+            281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L, 281474976710693L,
+            281474976710686L, 281474976710687L, 281474976710692L, 281474976710703L, 281474976710689L
+        },
         new[] { 281474976710773L, 281474976710770L, 281474976710769L, 281474976710772L, 281474976710771L },
-            new[] { 281474976710680L, 281474976710674L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710678L,
+        new[]
+        {
+            281474976710680L, 281474976710674L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710678L,
             281474976710682L, 281474976710677L, 281474976710676L, 281474976710688L, 281474976710687L, 281474976710675L,
-                    281474976710685L, 281474976710672L, 281474976710666L, 281474976710668L, 281474976710681L, 281474976710673L },
+            281474976710685L, 281474976710672L, 281474976710666L, 281474976710668L, 281474976710681L, 281474976710673L
-            new[] { 281474976710753L, 281474976710748L, 281474976710755L, 281474976710756L, 281474976710750L, 281474976710752L,
+        },
-                    281474976710731L, 281474976710729L, 281474976710749L, 281474976710719L, 281474976710717L, 281474976710726L },
+        new[]
-            new[] { 281474976710733L, 281474976710735L, 281474976710736L, 281474976710734L, 281474976710739L, 281474976710742L,
+        {
-                    281474976710740L, 281474976710746L, 281474976710747L, } };
+            281474976710753L, 281474976710748L, 281474976710755L, 281474976710756L, 281474976710750L, 281474976710752L,
-    private static readonly long[][] PARENT_REFS = {
+            281474976710731L, 281474976710729L, 281474976710749L, 281474976710719L, 281474976710717L, 281474976710726L
-            new[] { 0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710697L,
+        },
-                    281474976710686L, 281474976710693L, 281474976710694L, 281474976710687L },
+        new[]
+        {
+            281474976710733L, 281474976710735L, 281474976710736L, 281474976710734L, 281474976710739L, 281474976710742L,
+            281474976710740L, 281474976710746L, 281474976710747L,
+        }
+    };
+
+    private static readonly long[][] PARENT_REFS =
+    {
+        new[]
+        {
+            0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710697L,
+            281474976710686L, 281474976710693L, 281474976710694L, 281474976710687L
+        },
         new[] { 0L, 281474976710773L, 281474976710773L, 281474976710773L, 281474976710772L },
-            new[] { 0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710679L, 281474976710683L,
+        new[]
+        {
+            0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710679L, 281474976710683L,
             281474976710683L, 281474976710678L, 281474976710684L, 281474976710688L, 281474976710677L, 281474976710687L,
-                    281474976710682L, 281474976710672L, 281474976710672L, 281474976710675L, 281474976710666L },
+            281474976710682L, 281474976710672L, 281474976710672L, 281474976710675L, 281474976710666L
-            new[] { 0L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710748L, 281474976710752L,
+        },
-                    281474976710731L, 281474976710756L, 281474976710729L, 281474976710729L, 281474976710717L },
+        new[]
-            new[] { 0L, 281474976710733L, 281474976710733L, 281474976710736L, 281474976710736L, 281474976710735L, 281474976710742L,
+        {
-                    281474976710740L, 281474976710746L } };
+            0L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710753L, 281474976710748L, 281474976710752L,
-    private static readonly float[][] COSTS = {
+            281474976710731L, 281474976710756L, 281474976710729L, 281474976710729L, 281474976710717L
-            new[] { 0.000000f, 0.391453f, 6.764245f, 4.153431f, 3.721995f, 6.109188f, 5.378797f, 7.178796f, 7.009186f, 7.514245f,
+        },
-                    12.655564f },
+        new[]
+        {
+            0L, 281474976710733L, 281474976710733L, 281474976710736L, 281474976710736L, 281474976710735L, 281474976710742L,
+            281474976710740L, 281474976710746L
+        }
+    };
+
+    private static readonly float[][] COSTS =
+    {
+        new[]
+        {
+            0.000000f, 0.391453f, 6.764245f, 4.153431f, 3.721995f, 6.109188f, 5.378797f, 7.178796f, 7.009186f, 7.514245f,
+            12.655564f
+        },
         new[] { 0.000000f, 6.161580f, 2.824478f, 2.828730f, 8.035697f },
-            new[] { 0.000000f, 1.162604f, 1.954029f, 2.776051f, 2.046001f, 2.428367f, 6.429493f, 6.032851f, 2.878368f, 5.333885f,
+        new[]
-                    6.394545f, 9.596563f, 12.457960f, 7.096575f, 10.413582f, 10.362305f, 10.665442f, 10.593861f },
+        {
-            new[] { 0.000000f, 2.483205f, 6.723722f, 5.727250f, 3.126022f, 3.543865f, 5.043865f, 6.843868f, 7.212173f, 10.602858f,
+            0.000000f, 1.162604f, 1.954029f, 2.776051f, 2.046001f, 2.428367f, 6.429493f, 6.032851f, 2.878368f, 5.333885f,
-                    8.793867f, 13.146453f },
+            6.394545f, 9.596563f, 12.457960f, 7.096575f, 10.413582f, 10.362305f, 10.665442f, 10.593861f
-            new[] { 0.000000f, 2.480514f, 0.823685f, 5.002500f, 8.229258f, 3.983844f, 5.483844f, 6.655379f, 11.996962f } };
+        },
+        new[]
+        {
+            0.000000f, 2.483205f, 6.723722f, 5.727250f, 3.126022f, 3.543865f, 5.043865f, 6.843868f, 7.212173f, 10.602858f,
+            8.793867f, 13.146453f
+        },
+        new[] { 0.000000f, 2.480514f, 0.823685f, 5.002500f, 8.229258f, 3.983844f, 5.483844f, 6.655379f, 11.996962f }
+    };
 
     [Test]
-    public void testFindPolysAroundCircle() {
+    public void testFindPolysAroundCircle()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             float[] startPos = startPoss[i];
             Result<FindPolysAroundResult> result = query.findPolysAroundCircle(startRef, startPos, 7.5f, filter);
             Assert.That(result.succeeded(), Is.True);
             FindPolysAroundResult polys = result.result;
             Assert.That(polys.getRefs().Count, Is.EqualTo(REFS[i].Length));
-            for (int v = 0; v < REFS[i].Length; v++) {
+            for (int v = 0; v < REFS[i].Length; v++)
+            {
                 bool found = false;
-                for (int w = 0; w < REFS[i].Length; w++) {
+                for (int w = 0; w < REFS[i].Length; w++)
-                    if (REFS[i][v] == polys.getRefs()[w]) {
+                {
+                    if (REFS[i][v] == polys.getRefs()[w])
+                    {
                         Assert.That(polys.getParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v]));
                         Assert.That(polys.getCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
                         found = true;
                     }
                 }
+
                 Assert.That(found, Is.True, $"Ref not found {REFS[i][v]}");
             }
         }
-
     }
-
 }

test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs

@@ -20,91 +20,139 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class FindPolysAroundShapeTest : AbstractDetourTest
-public class FindPolysAroundShapeTest : AbstractDetourTest {
+{
-
+    private static readonly long[][] REFS =
-    private static readonly long[][] REFS = {
+    {
-            new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L,
+        new[]
+        {
+            281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L,
             281474976710693L, 281474976710692L, 281474976710703L, 281474976710706L, 281474976710699L,
-                    281474976710705L, 281474976710698L, 281474976710700L, 281474976710704L },
+            281474976710705L, 281474976710698L, 281474976710700L, 281474976710704L
-            new[] { 281474976710773L, 281474976710769L, 281474976710772L, 281474976710768L, 281474976710771L,
+        },
+        new[]
+        {
+            281474976710773L, 281474976710769L, 281474976710772L, 281474976710768L, 281474976710771L,
             281474976710754L, 281474976710755L, 281474976710753L, 281474976710751L, 281474976710756L,
-                    281474976710749L },
+            281474976710749L
-            new[] { 281474976710680L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710688L,
+        },
+        new[]
+        {
+            281474976710680L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710688L,
             281474976710678L, 281474976710676L, 281474976710687L, 281474976710690L, 281474976710686L,
             281474976710689L, 281474976710685L, 281474976710697L, 281474976710695L, 281474976710694L,
             281474976710691L, 281474976710696L, 281474976710693L, 281474976710692L, 281474976710703L,
-                    281474976710706L, 281474976710699L, 281474976710705L, 281474976710700L, 281474976710704L },
+            281474976710706L, 281474976710699L, 281474976710705L, 281474976710700L, 281474976710704L
+        },
         new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
-            new[] { 281474976710733L, 281474976710735L, 281474976710736L, 281474976710742L, 281474976710734L,
+        new[]
+        {
+            281474976710733L, 281474976710735L, 281474976710736L, 281474976710742L, 281474976710734L,
             281474976710739L, 281474976710738L, 281474976710740L, 281474976710746L, 281474976710743L,
             281474976710745L, 281474976710741L, 281474976710747L, 281474976710737L, 281474976710732L,
             281474976710728L, 281474976710724L, 281474976710744L, 281474976710725L, 281474976710717L,
             281474976710729L, 281474976710726L, 281474976710721L, 281474976710719L, 281474976710731L,
             281474976710720L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L,
             281474976710756L, 281474976710750L, 281474976710749L, 281474976710754L, 281474976710751L,
-                    281474976710768L, 281474976710772L, 281474976710773L, 281474976710771L, 281474976710769L } };
+            281474976710768L, 281474976710772L, 281474976710773L, 281474976710771L, 281474976710769L
-    private static readonly long[][] PARENT_REFS = {
+        }
-            new[] { 0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L,
+    };
+
+    private static readonly long[][] PARENT_REFS =
+    {
+        new[]
+        {
+            0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L,
             281474976710693L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710706L,
-                    281474976710705L, 281474976710705L, 281474976710705L },
+            281474976710705L, 281474976710705L, 281474976710705L
-            new[] { 0L, 281474976710773L, 281474976710773L, 281474976710772L, 281474976710772L, 281474976710768L,
+        },
-                    281474976710754L, 281474976710755L, 281474976710755L, 281474976710753L, 281474976710756L },
+        new[]
-            new[] { 0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710684L, 281474976710679L,
+        {
+            0L, 281474976710773L, 281474976710773L, 281474976710772L, 281474976710772L, 281474976710768L,
+            281474976710754L, 281474976710755L, 281474976710755L, 281474976710753L, 281474976710756L
+        },
+        new[]
+        {
+            0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710684L, 281474976710679L,
             281474976710678L, 281474976710688L, 281474976710687L, 281474976710687L, 281474976710687L,
             281474976710687L, 281474976710686L, 281474976710697L, 281474976710695L, 281474976710695L,
             281474976710695L, 281474976710695L, 281474976710693L, 281474976710694L, 281474976710703L,
-                    281474976710706L, 281474976710706L, 281474976710705L, 281474976710705L },
+            281474976710706L, 281474976710706L, 281474976710705L, 281474976710705L
+        },
         new[] { 0L, 281474976710753L, 281474976710748L, 281474976710752L },
-            new[] { 0L, 281474976710733L, 281474976710733L, 281474976710735L, 281474976710736L, 281474976710736L,
+        new[]
+        {
+            0L, 281474976710733L, 281474976710733L, 281474976710735L, 281474976710736L, 281474976710736L,
             281474976710736L, 281474976710742L, 281474976710740L, 281474976710746L, 281474976710746L,
             281474976710746L, 281474976710746L, 281474976710738L, 281474976710738L, 281474976710737L,
             281474976710728L, 281474976710745L, 281474976710724L, 281474976710724L, 281474976710717L,
             281474976710717L, 281474976710717L, 281474976710729L, 281474976710729L, 281474976710721L,
             281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710753L,
             281474976710753L, 281474976710756L, 281474976710755L, 281474976710755L, 281474976710754L,
-                    281474976710768L, 281474976710772L, 281474976710772L, 281474976710773L } };
+            281474976710768L, 281474976710772L, 281474976710772L, 281474976710773L
-    private static readonly float[][] COSTS = {
+        }
-            new[] { 0.000000f, 16.188787f, 22.561579f, 19.950766f, 19.519329f, 21.906523f, 22.806520f, 23.311579f, 25.124035f,
+    };
-                    28.454576f, 26.084503f, 36.438854f, 30.526634f, 31.942192f },
+
-            new[] { 0.000000f, 16.618738f, 12.136283f, 20.387646f, 17.343250f, 22.037645f, 22.787645f, 27.178831f, 26.501472f,
+    private static readonly float[][] COSTS =
-                    31.691311f, 33.176235f },
+    {
-            new[] { 0.000000f, 36.657764f, 35.197689f, 37.484924f, 37.755524f, 37.132103f, 37.582104f, 38.816185f, 52.426109f,
+        new[]
+        {
+            0.000000f, 16.188787f, 22.561579f, 19.950766f, 19.519329f, 21.906523f, 22.806520f, 23.311579f, 25.124035f,
+            28.454576f, 26.084503f, 36.438854f, 30.526634f, 31.942192f
+        },
+        new[]
+        {
+            0.000000f, 16.618738f, 12.136283f, 20.387646f, 17.343250f, 22.037645f, 22.787645f, 27.178831f, 26.501472f,
+            31.691311f, 33.176235f
+        },
+        new[]
+        {
+            0.000000f, 36.657764f, 35.197689f, 37.484924f, 37.755524f, 37.132103f, 37.582104f, 38.816185f, 52.426109f,
             55.945839f, 51.882935f, 44.879601f, 57.745838f, 59.402641f, 65.063034f, 64.934372f, 62.733185f,
-                    62.756744f, 63.656742f, 65.813034f, 67.625488f, 70.956032f, 68.585960f, 73.028091f, 74.443649f },
+            62.756744f, 63.656742f, 65.813034f, 67.625488f, 70.956032f, 68.585960f, 73.028091f, 74.443649f
+        },
         new[] { 0.000000f, 2.097958f, 3.158618f, 4.658618f },
-            new[] { 0.000000f, 20.495766f, 21.352942f, 21.999096f, 25.531757f, 28.758514f, 30.264732f, 23.499096f, 24.670631f,
+        new[]
+        {
+            0.000000f, 20.495766f, 21.352942f, 21.999096f, 25.531757f, 28.758514f, 30.264732f, 23.499096f, 24.670631f,
             33.166218f, 35.651184f, 34.371792f, 30.012215f, 33.886887f, 33.855347f, 34.643524f, 36.300327f,
             38.203144f, 40.339203f, 40.203213f, 47.254810f, 50.043945f, 49.054485f, 49.804810f, 49.204811f,
             52.813477f, 51.004814f, 52.504814f, 53.565475f, 62.748611f, 61.504147f, 57.915474f, 62.989071f,
-                    67.139801f, 66.507599f, 67.889801f, 69.539803f, 77.791168f, 75.186256f, 83.111412f } };
+            67.139801f, 66.507599f, 67.889801f, 69.539803f, 77.791168f, 75.186256f, 83.111412f
+        }
+    };
 
     [Test]
-    public void testFindPolysAroundShape() {
+    public void testFindPolysAroundShape()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             float[] startPos = startPoss[i];
             Result<FindPolysAroundResult> polys = query.findPolysAroundShape(startRef,
                 getQueryPoly(startPos, endPoss[i]), filter);
             Assert.That(polys.result.getRefs().Count, Is.EqualTo(REFS[i].Length));
-            for (int v = 0; v < REFS[i].Length; v++) {
+            for (int v = 0; v < REFS[i].Length; v++)
+            {
                 bool found = false;
-                for (int w = 0; w < REFS[i].Length; w++) {
+                for (int w = 0; w < REFS[i].Length; w++)
-                    if (REFS[i][v] == polys.result.getRefs()[w]) {
+                {
+                    if (REFS[i][v] == polys.result.getRefs()[w])
+                    {
                         Assert.That(polys.result.getParentRefs()[w], Is.EqualTo(PARENT_REFS[i][v]));
                         Assert.That(polys.result.getCosts()[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
                         found = true;
                     }
                 }
+
                 Assert.That(found, Is.True);
             }
         }
-
     }
 
-    private float[] getQueryPoly(float[] m_spos, float[] m_epos) {
+    private float[] getQueryPoly(float[] m_spos, float[] m_epos)
-
+    {
         float nx = (m_epos[2] - m_spos[2]) * 0.25f;
         float nz = -(m_epos[0] - m_spos[0]) * 0.25f;
         float agentHeight = 2.0f;
@@ -127,5 +175,4 @@ public class FindPolysAroundShapeTest : AbstractDetourTest {
         m_queryPoly[11] = m_epos[2] + nz;
         return m_queryPoly;
     }
-
 }

test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs

@@ -20,56 +20,80 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class GetPolyWallSegmentsTest : AbstractDetourTest
-public class GetPolyWallSegmentsTest : AbstractDetourTest {
+{
-
+    private static readonly float[][] VERTICES =
-    private static readonly float[][] VERTICES = {
+    {
-            new[] { 22.084785f, 10.197294f, -48.341274f, 22.684784f, 10.197294f, -44.141273f, 22.684784f, 10.197294f,
+        new[]
+        {
+            22.084785f, 10.197294f, -48.341274f, 22.684784f, 10.197294f, -44.141273f, 22.684784f, 10.197294f,
             -44.141273f, 23.884785f, 10.197294f, -48.041275f, 23.884785f, 10.197294f, -48.041275f, 22.084785f,
-                    10.197294f, -48.341274f },
+            10.197294f, -48.341274f
-            new[] { 27.784786f, 10.197294f, 4.158730f, 28.384785f, 10.197294f, 2.358727f, 28.384785f, 10.197294f, 2.358727f,
+        },
+        new[]
+        {
+            27.784786f, 10.197294f, 4.158730f, 28.384785f, 10.197294f, 2.358727f, 28.384785f, 10.197294f, 2.358727f,
             28.384785f, 10.197294f, -2.141273f, 28.384785f, 10.197294f, -2.141273f, 27.784786f, 10.197294f,
             -2.741272f, 27.784786f, 10.197294f, -2.741272f, 19.684784f, 10.197294f, -4.241272f, 19.684784f,
             10.197294f, -4.241272f, 19.684784f, 10.197294f, 4.158730f, 19.684784f, 10.197294f, 4.158730f,
-                    27.784786f, 10.197294f, 4.158730f },
+            27.784786f, 10.197294f, 4.158730f
-            new[] { 22.384785f, 14.997294f, -71.741272f, 19.084785f, 16.597294f, -74.741272f, 19.084785f, 16.597294f,
+        },
+        new[]
+        {
+            22.384785f, 14.997294f, -71.741272f, 19.084785f, 16.597294f, -74.741272f, 19.084785f, 16.597294f,
             -74.741272f, 18.184784f, 15.997294f, -73.541275f, 18.184784f, 15.997294f, -73.541275f, 17.884785f,
             14.997294f, -72.341278f, 17.884785f, 14.997294f, -72.341278f, 17.584785f, 14.997294f, -70.841278f,
             17.584785f, 14.997294f, -70.841278f, 22.084785f, 14.997294f, -70.541275f, 22.084785f, 14.997294f,
-                    -70.541275f, 22.384785f, 14.997294f, -71.741272f },
+            -70.541275f, 22.384785f, 14.997294f, -71.741272f
-            new[] { 4.684784f, 10.197294f, -6.941269f, 1.984785f, 10.197294f, -8.441269f, 1.984785f, 10.197294f, -8.441269f,
+        },
+        new[]
+        {
+            4.684784f, 10.197294f, -6.941269f, 1.984785f, 10.197294f, -8.441269f, 1.984785f, 10.197294f, -8.441269f,
             -4.015217f, 10.197294f, -6.941269f, -4.015217f, 10.197294f, -6.941269f, -1.615215f, 10.197294f,
             -1.541275f, -1.615215f, 10.197294f, -1.541275f, 1.384785f, 10.197294f, 1.458725f, 1.384785f,
             10.197294f, 1.458725f, 7.984783f, 10.197294f, -2.441269f, 7.984783f, 10.197294f, -2.441269f,
-                    4.684784f, 10.197294f, -6.941269f },
+            4.684784f, 10.197294f, -6.941269f
-            new[] { -22.315216f, 6.597294f, -17.141273f, -23.815216f, 5.397294f, -13.841270f, -23.815216f, 5.397294f,
+        },
+        new[]
+        {
+            -22.315216f, 6.597294f, -17.141273f, -23.815216f, 5.397294f, -13.841270f, -23.815216f, 5.397294f,
             -13.841270f, -24.115217f, 4.997294f, -12.041275f, -24.115217f, 4.997294f, -12.041275f, -22.315216f,
             4.997294f, -11.441269f, -22.315216f, 4.997294f, -11.441269f, -17.815216f, 5.197294f, -11.441269f,
-                    -17.815216f, 5.197294f, -11.441269f, -22.315216f, 6.597294f, -17.141273f } };
+            -17.815216f, 5.197294f, -11.441269f, -22.315216f, 6.597294f, -17.141273f
-    private static readonly long[][] REFS = { 
+        }
+    };
+
+    private static readonly long[][] REFS =
+    {
         new[] { 281474976710695L, 0L, 0L },
         new[] { 0L, 281474976710770L, 0L, 281474976710769L, 281474976710772L, 0L },
         new[] { 281474976710683L, 281474976710674L, 0L, 281474976710679L, 281474976710684L, 0L },
         new[] { 281474976710750L, 281474976710748L, 0L, 0L, 281474976710755L, 281474976710756L },
-            new[] { 0L, 0L, 0L, 281474976710735L, 281474976710736L } };
+        new[] { 0L, 0L, 0L, 281474976710735L, 281474976710736L }
+    };
 
     [Test]
-    public void testFindDistanceToWall() {
+    public void testFindDistanceToWall()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             Result<GetPolyWallSegmentsResult> result = query.getPolyWallSegments(startRefs[i], true, filter);
             GetPolyWallSegmentsResult segments = result.result;
             Assert.That(segments.getSegmentVerts().Count, Is.EqualTo(VERTICES[i].Length / 6));
             Assert.That(segments.getSegmentRefs().Count, Is.EqualTo(REFS[i].Length));
-            for (int v = 0; v < VERTICES[i].Length / 6; v++) {
+            for (int v = 0; v < VERTICES[i].Length / 6; v++)
-                for (int n = 0; n < 6; n++) {
+            {
+                for (int n = 0; n < 6; n++)
+                {
                     Assert.That(segments.getSegmentVerts()[v][n], Is.EqualTo(VERTICES[i][v * 6 + n]).Within(0.001f));
                 }
             }
-            for (int v = 0; v < REFS[i].Length; v++) {
+
+            for (int v = 0; v < REFS[i].Length; v++)
+            {
                 Assert.That(segments.getSegmentRefs()[v], Is.EqualTo(REFS[i][v]));
             }
         }
-
     }
 }

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

@@ -23,39 +23,44 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-
+public class MeshDataReaderWriterTest
-public class MeshDataReaderWriterTest {
+{
-
     private const int VERTS_PER_POLYGON = 6;
     private MeshData meshData;
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
+    {
         RecastTestMeshBuilder rcBuilder = new RecastTestMeshBuilder();
         meshData = rcBuilder.getMeshData();
     }
 
     [Test]
-    public void testCCompatibility() {
+    public void testCCompatibility()
+    {
         test(true, ByteOrder.BIG_ENDIAN);
     }
 
     [Test]
-    public void testCompact() {
+    public void testCompact()
+    {
         test(false, ByteOrder.BIG_ENDIAN);
     }
 
     [Test]
-    public void testCCompatibilityLE() {
+    public void testCCompatibilityLE()
+    {
         test(true, ByteOrder.LITTLE_ENDIAN);
     }
 
     [Test]
-    public void testCompactLE() {
+    public void testCompactLE()
+    {
         test(false, ByteOrder.LITTLE_ENDIAN);
     }
 
-    public void test(bool cCompatibility, ByteOrder order) {
+    public void test(bool cCompatibility, ByteOrder order)
+    {
         using var ms = new MemoryStream();
         using var bwos = new BinaryWriter(ms);
 
@@ -74,43 +79,59 @@ public class MeshDataReaderWriterTest {
         Assert.That(readData.header.detailVertCount, Is.EqualTo(meshData.header.detailVertCount));
         Assert.That(readData.header.bvNodeCount, Is.EqualTo(meshData.header.bvNodeCount));
         Assert.That(readData.header.offMeshConCount, Is.EqualTo(meshData.header.offMeshConCount));
-        for (int i = 0; i < meshData.header.vertCount; i++) {
+        for (int i = 0; i < meshData.header.vertCount; i++)
+        {
             Assert.That(readData.verts[i], Is.EqualTo(meshData.verts[i]));
         }
-        for (int i = 0; i < meshData.header.polyCount; i++) {
+
+        for (int i = 0; i < meshData.header.polyCount; i++)
+        {
             Assert.That(readData.polys[i].vertCount, Is.EqualTo(meshData.polys[i].vertCount));
             Assert.That(readData.polys[i].areaAndtype, Is.EqualTo(meshData.polys[i].areaAndtype));
-            for (int j = 0; j < meshData.polys[i].vertCount; j++) {
+            for (int j = 0; j < meshData.polys[i].vertCount; j++)
+            {
                 Assert.That(readData.polys[i].verts[j], Is.EqualTo(meshData.polys[i].verts[j]));
                 Assert.That(readData.polys[i].neis[j], Is.EqualTo(meshData.polys[i].neis[j]));
             }
         }
-        for (int i = 0; i < meshData.header.detailMeshCount; i++) {
+
+        for (int i = 0; i < meshData.header.detailMeshCount; i++)
+        {
             Assert.That(readData.detailMeshes[i].vertBase, Is.EqualTo(meshData.detailMeshes[i].vertBase));
             Assert.That(readData.detailMeshes[i].vertCount, Is.EqualTo(meshData.detailMeshes[i].vertCount));
             Assert.That(readData.detailMeshes[i].triBase, Is.EqualTo(meshData.detailMeshes[i].triBase));
             Assert.That(readData.detailMeshes[i].triCount, Is.EqualTo(meshData.detailMeshes[i].triCount));
         }
-        for (int i = 0; i < meshData.header.detailVertCount; i++) {
+
+        for (int i = 0; i < meshData.header.detailVertCount; i++)
+        {
             Assert.That(readData.detailVerts[i], Is.EqualTo(meshData.detailVerts[i]));
         }
-        for (int i = 0; i < meshData.header.detailTriCount; i++) {
+
+        for (int i = 0; i < meshData.header.detailTriCount; i++)
+        {
             Assert.That(readData.detailTris[i], Is.EqualTo(meshData.detailTris[i]));
         }
-        for (int i = 0; i < meshData.header.bvNodeCount; i++) {
+
+        for (int i = 0; i < meshData.header.bvNodeCount; i++)
+        {
             Assert.That(readData.bvTree[i].i, Is.EqualTo(meshData.bvTree[i].i));
-            for (int j = 0; j < 3; j++) {
+            for (int j = 0; j < 3; j++)
+            {
                 Assert.That(readData.bvTree[i].bmin[j], Is.EqualTo(meshData.bvTree[i].bmin[j]));
                 Assert.That(readData.bvTree[i].bmax[j], Is.EqualTo(meshData.bvTree[i].bmax[j]));
             }
         }
-        for (int i = 0; i < meshData.header.offMeshConCount; i++) {
+
+        for (int i = 0; i < meshData.header.offMeshConCount; i++)
+        {
             Assert.That(readData.offMeshCons[i].flags, Is.EqualTo(meshData.offMeshCons[i].flags));
             Assert.That(readData.offMeshCons[i].rad, Is.EqualTo(meshData.offMeshCons[i].rad));
             Assert.That(readData.offMeshCons[i].poly, Is.EqualTo(meshData.offMeshCons[i].poly));
             Assert.That(readData.offMeshCons[i].side, Is.EqualTo(meshData.offMeshCons[i].side));
             Assert.That(readData.offMeshCons[i].userId, Is.EqualTo(meshData.offMeshCons[i].userId));
-            for (int j = 0; j < 6; j++) {
+            for (int j = 0; j < 6; j++)
+            {
                 Assert.That(readData.offMeshCons[i].pos[j], Is.EqualTo(meshData.offMeshCons[i].pos[j]));
             }
         }

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

@@ -24,12 +24,13 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-public class MeshSetReaderTest {
+public class MeshSetReaderTest
-
+{
     private readonly MeshSetReader reader = new MeshSetReader();
 
     [Test]
-    public void testNavmesh() {
+    public void testNavmesh()
+    {
         byte[] @is = Loader.ToBytes("all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var bris = new BinaryReader(ms);
@@ -56,7 +57,8 @@ public class MeshSetReaderTest {
     }
 
     [Test]
-    public void testDungeon() {
+    public void testDungeon()
+    {
         byte[] @is = Loader.ToBytes("dungeon_all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var bris = new BinaryReader(ms);
@@ -84,7 +86,8 @@ public class MeshSetReaderTest {
     }
 
     [Test]
-    public void testDungeon32Bit() {
+    public void testDungeon32Bit()
+    {
         byte[] @is = Loader.ToBytes("dungeon_all_tiles_navmesh_32bit.bin");
         using var ms = new MemoryStream(@is);
         using var bris = new BinaryReader(ms);

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

@@ -23,13 +23,12 @@ using DotRecast.Detour.Io;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 using NUnit.Framework;
-
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Test.Io;
 
-public class MeshSetReaderWriterTest {
+public class MeshSetReaderWriterTest
-
+{
     private readonly MeshSetWriter writer = new MeshSetWriter();
     private readonly MeshSetReader reader = new MeshSetReader();
     private const float m_cellSize = 0.3f;
@@ -52,8 +51,8 @@ public class MeshSetReaderWriterTest {
     private const int m_maxPolysPerTile = 0x8000;
 
     [Test]
-    public void test() {
+    public void test()
-
+    {
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
 
         NavMeshSetHeader header = new NavMeshSetHeader();
@@ -72,8 +71,10 @@ public class MeshSetReaderWriterTest {
         int[] twh = DotRecast.Recast.Recast.calcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize);
         int tw = twh[0];
         int th = twh[1];
-        for (int y = 0; y < th; ++y) {
+        for (int y = 0; y < th; ++y)
-            for (int x = 0; x < tw; ++x) {
+        {
+            for (int x = 0; x < tw; ++x)
+            {
                 RecastConfig cfg = new RecastConfig(true, m_tileSize, m_tileSize,
                     RecastConfig.calcBorder(m_agentRadius, m_cellSize), PartitionType.WATERSHED, m_cellSize, m_cellHeight,
                     m_agentMaxSlope, true, true, true, m_agentHeight, m_agentRadius, m_agentMaxClimb, m_regionMinArea,
@@ -82,7 +83,8 @@ public class MeshSetReaderWriterTest {
                 RecastBuilderConfig bcfg = new RecastBuilderConfig(cfg, bmin, bmax, x, y);
                 TestDetourBuilder db = new TestDetourBuilder();
                 MeshData data = db.build(geom, bcfg, m_agentHeight, m_agentRadius, m_agentMaxClimb, x, y, true);
-                if (data != null) {
+                if (data != null)
+                {
                     mesh.removeTile(mesh.getTileRefAt(x, y, 0));
                     mesh.addTile(data, 0, 0);
                 }
@@ -115,6 +117,5 @@ public class MeshSetReaderWriterTest {
         Assert.That(tiles.Count, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
-
     }
 }

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -20,49 +20,70 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-public class MoveAlongSurfaceTest : AbstractDetourTest {
+public class MoveAlongSurfaceTest : AbstractDetourTest
-
+{
-    private static readonly long[][] VISITED = {
+    private static readonly long[][] VISITED =
-            new[] { 281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
+    {
+        new[]
+        {
+            281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
             281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
-                    281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L },
+            281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L
-            new[] { 281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L,
+        },
-                    281474976710753L },
+        new[]
-            new[] { 281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L,
+        {
+            281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L,
+            281474976710753L
+        },
+        new[]
+        {
+            281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L,
             281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
             281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
             281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L,
-                    281474976710718L },
+            281474976710718L
+        },
         new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
-            new[] { 281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L,
+        new[]
+        {
+            281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L,
             281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L,
             281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L,
-                    281474976710772L } };
+            281474976710772L
-    private static readonly float[][] POSITION = { 
+        }
+    };
+
+    private static readonly float[][] POSITION =
+    {
         new[] { 6.457663f, 10.197294f, -18.334061f },
         new[] { -1.433933f, 10.197294f, -1.359993f },
         new[] { 12.184784f, 9.997294f, -18.941269f },
         new[] { 0.863553f, 10.197294f, -10.310320f },
-            new[] { 18.784092f, 10.197294f, 3.054368f } };
+        new[] { 18.784092f, 10.197294f, 3.054368f }
+    };
 
     [Test]
-    public void testMoveAlongSurface() {
+    public void testMoveAlongSurface()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             float[] startPos = startPoss[i];
             float[] endPos = endPoss[i];
             Result<MoveAlongSurfaceResult> result = query.moveAlongSurface(startRef, startPos, endPos, filter);
             Assert.That(result.succeeded(), Is.True);
             MoveAlongSurfaceResult path = result.result;
-            for (int v = 0; v < 3; v++) {
+            for (int v = 0; v < 3; v++)
+            {
                 Assert.That(path.getResultPos()[v], Is.EqualTo(POSITION[i][v]).Within(0.01f));
             }
+
             Assert.That(path.getVisited().Count, Is.EqualTo(VISITED[i].Length));
-            for (int j = 0; j < POSITION[i].Length; j++) {
+            for (int j = 0; j < POSITION[i].Length; j++)
+            {
                 Assert.That(path.getVisited()[j], Is.EqualTo(VISITED[i][j]));
             }
         }
     }
-
 }

test/DotRecast.Detour.Test/NavMeshBuilderTest.cs

@@ -20,18 +20,19 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class NavMeshBuilderTest
-public class NavMeshBuilderTest {
+{
-
     private MeshData nmd;
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
+    {
         nmd = new RecastTestMeshBuilder().getMeshData();
     }
 
     [Test]
-    public void testBVTree() {
+    public void testBVTree()
+    {
         Assert.That(nmd.verts.Length / 3, Is.EqualTo(225));
         Assert.That(nmd.polys.Length, Is.EqualTo(119));
         Assert.That(nmd.header.maxLinkCount, Is.EqualTo(457));
@@ -42,12 +43,16 @@ public class NavMeshBuilderTest {
         Assert.That(nmd.header.offMeshBase, Is.EqualTo(118));
         Assert.That(nmd.bvTree.Length, Is.EqualTo(236));
         Assert.That(nmd.bvTree.Length, Is.GreaterThanOrEqualTo(nmd.header.bvNodeCount));
-        for (int i = 0; i < nmd.header.bvNodeCount; i++) {
+        for (int i = 0; i < nmd.header.bvNodeCount; i++)
+        {
             Assert.That(nmd.bvTree[i], Is.Not.Null);
         }
-        for (int i = 0; i < 6; i++) {
+
+        for (int i = 0; i < 6; i++)
+        {
             Assert.That(nmd.verts[223 * 3 + i], Is.EqualTo(nmd.offMeshCons[0].pos[i]));
         }
+
         Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f));
         Assert.That(nmd.offMeshCons[0].poly, Is.EqualTo(118));
         Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(NavMesh.DT_OFFMESH_CON_BIDIR));
@@ -59,6 +64,5 @@ public class NavMeshBuilderTest {
         Assert.That(nmd.polys[118].flags, Is.EqualTo(12));
         Assert.That(nmd.polys[118].getArea(), Is.EqualTo(2));
         Assert.That(nmd.polys[118].getType(), Is.EqualTo(Poly.DT_POLYTYPE_OFFMESH_CONNECTION));
-
     }
 }

test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs

@@ -20,13 +20,13 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
+public class PolygonByCircleConstraintTest
-public class PolygonByCircleConstraintTest {
+{
-
     private readonly PolygonByCircleConstraint constraint = new PolygonByCircleConstraint.StrictPolygonByCircleConstraint();
 
     [Test]
-    public void shouldHandlePolygonFullyInsideCircle() {
+    public void shouldHandlePolygonFullyInsideCircle()
+    {
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         float[] center = { 1, 0, 1 };
         float[] constrained = constraint.aply(polygon, center, 6);
@@ -35,18 +35,20 @@ public class PolygonByCircleConstraintTest {
     }
 
     [Test]
-    public void shouldHandleVerticalSegment() {
+    public void shouldHandleVerticalSegment()
+    {
         int expectedSize = 21;
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         float[] center = { 2, 0, 0 };
 
         float[] constrained = constraint.aply(polygon, center, 3);
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] {2f, 0f, 2f, 2f, 0f, -2f}));
+        Assert.That(constrained, Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
     }
 
     [Test]
-    public void shouldHandleCircleFullyInsidePolygon() {
+    public void shouldHandleCircleFullyInsidePolygon()
+    {
         int expectedSize = 12 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] center = { -1, 0, -1 };
@@ -54,7 +56,8 @@ public class PolygonByCircleConstraintTest {
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
 
-        for (int i = 0; i < expectedSize; i += 3) {
+        for (int i = 0; i < expectedSize; i += 3)
+        {
             float x = constrained[i] + 1;
             float z = constrained[i + 2] + 1;
             Assert.That(x * x + z * z, Is.EqualTo(4).Within(1e-4f));
@@ -62,7 +65,8 @@ public class PolygonByCircleConstraintTest {
     }
 
     [Test]
-    public void shouldHandleCircleInsidePolygon() {
+    public void shouldHandleCircleInsidePolygon()
+    {
         int expectedSize = 9 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] center = { -2, 0, -1 };
@@ -82,6 +86,5 @@ public class PolygonByCircleConstraintTest {
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
         Assert.That(constrained, Is.SupersetOf(new[] { 1.5358982f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
-}
+    }
-
 }

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -19,30 +19,33 @@ freely, subject to the following restrictions:
 using System;
 using System.Diagnostics;
 using NUnit.Framework;
-
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.Test;
 
-public class RandomPointTest : AbstractDetourTest {
+public class RandomPointTest : AbstractDetourTest
-
+{
     [Test]
-    public void testRandom() {
+    public void testRandom()
+    {
         NavMeshQuery.FRand f = new NavMeshQuery.FRand(1);
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < 1000; i++) {
+        for (int i = 0; i < 1000; i++)
+        {
             Result<FindRandomPointResult> point = query.findRandomPoint(filter, f);
             Assert.That(point.succeeded(), Is.True);
             Tuple<MeshTile, Poly> tileAndPoly = navmesh.getTileAndPolyByRef(point.result.getRandomRef()).result;
             float[] bmin = new float[2];
             float[] bmax = new float[2];
-            for (int j = 0; j < tileAndPoly.Item2.vertCount; j++) {
+            for (int j = 0; j < tileAndPoly.Item2.vertCount; j++)
+            {
                 int v = tileAndPoly.Item2.verts[j] * 3;
                 bmin[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Min(bmin[0], tileAndPoly.Item1.data.verts[v]);
                 bmax[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Max(bmax[0], tileAndPoly.Item1.data.verts[v]);
                 bmin[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Min(bmin[1], tileAndPoly.Item1.data.verts[v + 2]);
                 bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]);
             }
+
             Assert.That(point.result.getRandomPt()[0] >= bmin[0], Is.True);
             Assert.That(point.result.getRandomPt()[0] <= bmax[0], Is.True);
             Assert.That(point.result.getRandomPt()[2] >= bmin[1], Is.True);
@@ -51,11 +54,13 @@ public class RandomPointTest : AbstractDetourTest {
     }
 
     [Test]
-    public void testRandomAroundCircle() {
+    public void testRandomAroundCircle()
+    {
         NavMeshQuery.FRand f = new NavMeshQuery.FRand(1);
         QueryFilter filter = new DefaultQueryFilter();
         FindRandomPointResult point = query.findRandomPoint(filter, f).result;
-        for (int i = 0; i < 1000; i++) {
+        for (int i = 0; i < 1000; i++)
+        {
             Result<FindRandomPointResult> result = query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(),
                 5f, filter, f);
             Assert.That(result.failed(), Is.False);
@@ -63,13 +68,15 @@ public class RandomPointTest : AbstractDetourTest {
             Tuple<MeshTile, Poly> tileAndPoly = navmesh.getTileAndPolyByRef(point.getRandomRef()).result;
             float[] bmin = new float[2];
             float[] bmax = new float[2];
-            for (int j = 0; j < tileAndPoly.Item2.vertCount; j++) {
+            for (int j = 0; j < tileAndPoly.Item2.vertCount; j++)
+            {
                 int v = tileAndPoly.Item2.verts[j] * 3;
                 bmin[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Min(bmin[0], tileAndPoly.Item1.data.verts[v]);
                 bmax[0] = j == 0 ? tileAndPoly.Item1.data.verts[v] : Math.Max(bmax[0], tileAndPoly.Item1.data.verts[v]);
                 bmin[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Min(bmin[1], tileAndPoly.Item1.data.verts[v + 2]);
                 bmax[1] = j == 0 ? tileAndPoly.Item1.data.verts[v + 2] : Math.Max(bmax[1], tileAndPoly.Item1.data.verts[v + 2]);
             }
+
             Assert.That(point.getRandomPt()[0] >= bmin[0], Is.True);
             Assert.That(point.getRandomPt()[0] <= bmax[0], Is.True);
             Assert.That(point.getRandomPt()[2] >= bmin[1], Is.True);
@@ -78,12 +85,14 @@ public class RandomPointTest : AbstractDetourTest {
     }
 
     [Test]
-    public void testRandomWithinCircle() {
+    public void testRandomWithinCircle()
+    {
         NavMeshQuery.FRand f = new NavMeshQuery.FRand(1);
         QueryFilter filter = new DefaultQueryFilter();
         FindRandomPointResult point = query.findRandomPoint(filter, f).result;
         float radius = 5f;
-        for (int i = 0; i < 1000; i++) {
+        for (int i = 0; i < 1000; i++)
+        {
             Result<FindRandomPointResult> result = query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(),
                 radius, filter, f);
             Assert.That(result.failed(), Is.False);
@@ -94,30 +103,37 @@ public class RandomPointTest : AbstractDetourTest {
     }
 
     [Test]
-    public void testPerformance() {
+    public void testPerformance()
+    {
         NavMeshQuery.FRand f = new NavMeshQuery.FRand(1);
         QueryFilter filter = new DefaultQueryFilter();
         FindRandomPointResult point = query.findRandomPoint(filter, f).result;
         float radius = 5f;
         // jvm warmup
-        for (int i = 0; i < 1000; i++) {
+        for (int i = 0; i < 1000; i++)
+        {
             query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f);
         }
-        for (int i = 0; i < 1000; i++) {
+
+        for (int i = 0; i < 1000; i++)
+        {
             query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f);
         }
 
         long t1 = Stopwatch.GetTimestamp();
-        for (int i = 0; i < 10000; i++) {
+        for (int i = 0; i < 10000; i++)
+        {
             query.findRandomPointAroundCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f);
         }
+
         long t2 = Stopwatch.GetTimestamp();
-        for (int i = 0; i < 10000; i++) {
+        for (int i = 0; i < 10000; i++)
+        {
             query.findRandomPointWithinCircle(point.getRandomRef(), point.getRandomPt(), radius, filter, f);
         }
+
         long t3 = Stopwatch.GetTimestamp();
         Console.WriteLine("Random point around circle: " + (t2 - t1) / 1000000 + "ms");
         Console.WriteLine("Random point within circle: " + (t3 - t2) / 1000000 + "ms");
     }
-
 }

test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs

@@ -22,8 +22,8 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public class RecastTestMeshBuilder {
+public class RecastTestMeshBuilder
-
+{
     private readonly MeshData meshData;
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
@@ -50,7 +50,8 @@ public class RecastTestMeshBuilder {
     public RecastTestMeshBuilder(InputGeomProvider m_geom, PartitionType m_partitionType, float m_cellSize,
         float m_cellHeight, float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope,
         int m_regionMinSize, int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly,
-            float m_detailSampleDist, float m_detailSampleMaxError) {
+        float m_detailSampleDist, float m_detailSampleMaxError)
+    {
         RecastConfig cfg = new RecastConfig(m_partitionType, m_cellSize, m_cellHeight, m_agentHeight, m_agentRadius,
             m_agentMaxClimb, m_agentMaxSlope, m_regionMinSize, m_regionMergeSize, m_edgeMaxLen, m_edgeMaxError,
             m_vertsPerPoly, m_detailSampleDist, m_detailSampleMaxError, SampleAreaModifications.SAMPLE_AREAMOD_GROUND);
@@ -58,9 +59,11 @@ public class RecastTestMeshBuilder {
         RecastBuilder rcBuilder = new RecastBuilder();
         RecastBuilderResult rcResult = rcBuilder.build(m_geom, bcfg);
         PolyMesh m_pmesh = rcResult.getMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i) {
+        for (int i = 0; i < m_pmesh.npolys; ++i)
+        {
             m_pmesh.flags[i] = 1;
         }
+
         PolyMeshDetail m_dmesh = rcResult.getMeshDetail();
         NavMeshDataCreateParams option = new NavMeshDataCreateParams();
         option.verts = m_pmesh.verts;
@@ -105,7 +108,8 @@ public class RecastTestMeshBuilder {
         meshData = NavMeshBuilder.createNavMeshData(option);
     }
 
-    public MeshData getMeshData() {
+    public MeshData getMeshData()
+    {
         return meshData;
     }
 }

test/DotRecast.Detour.Test/SampleAreaModifications.cs

@@ -20,8 +20,8 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Test;
 
-public class SampleAreaModifications {
+public class SampleAreaModifications
-
+{
     public const int SAMPLE_POLYAREA_TYPE_MASK = 0x07;
     public const int SAMPLE_POLYAREA_TYPE_GROUND = 0x1;
     public const int SAMPLE_POLYAREA_TYPE_WATER = 0x2;
@@ -32,14 +32,19 @@ public class SampleAreaModifications {
 
     public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_TYPE_DOOR,
         SAMPLE_POLYAREA_TYPE_DOOR);
+
     public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_TYPE_JUMP,
         SAMPLE_POLYAREA_TYPE_JUMP);
 

test/DotRecast.Detour.Test/TestDetourBuilder.cs

@@ -21,32 +21,43 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public class TestDetourBuilder : DetourBuilder {
+public class TestDetourBuilder : DetourBuilder
-
+{
     public MeshData build(InputGeomProvider geom, RecastBuilderConfig rcConfig, float agentHeight, float agentRadius,
-            float agentMaxClimb, int x, int y, bool applyRecastDemoFlags) {
+        float agentMaxClimb, int x, int y, bool applyRecastDemoFlags)
+    {
         RecastBuilder rcBuilder = new RecastBuilder();
         RecastBuilderResult rcResult = rcBuilder.build(geom, rcConfig);
         PolyMesh pmesh = rcResult.getMesh();
 
-        if (applyRecastDemoFlags) {
+        if (applyRecastDemoFlags)
+        {
             // Update poly flags from areas.
-            for (int i = 0; i < pmesh.npolys; ++i) {
+            for (int i = 0; i < pmesh.npolys; ++i)
+            {
                 if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND
                     || pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS
-                        || pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD) {
+                    || pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD)
+                {
                     pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK;
-                } else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER) {
+                }
+                else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER)
+                {
                     pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM;
-                } else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR) {
+                }
+                else if (pmesh.areas[i] == SampleAreaModifications.SAMPLE_POLYAREA_TYPE_DOOR)
+                {
                     pmesh.flags[i] = SampleAreaModifications.SAMPLE_POLYFLAGS_WALK
                                      | SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR;
                 }
-                if (pmesh.areas[i] > 0) {
+
+                if (pmesh.areas[i] > 0)
+                {
                     pmesh.areas[i]--;
                 }
             }
         }
+
         PolyMeshDetail dmesh = rcResult.getMeshDetail();
         NavMeshDataCreateParams option = getNavMeshCreateParams(rcConfig.cfg, pmesh, dmesh, agentHeight, agentRadius,
             agentMaxClimb);
@@ -54,7 +65,8 @@ public class TestDetourBuilder : DetourBuilder {
     }
 
     public NavMeshDataCreateParams getNavMeshCreateParams(RecastConfig rcConfig, PolyMesh pmesh, PolyMeshDetail dmesh,
-            float agentHeight, float agentRadius, float agentMaxClimb) {
+        float agentHeight, float agentRadius, float agentMaxClimb)
+    {
         NavMeshDataCreateParams option = new NavMeshDataCreateParams();
         option.verts = pmesh.verts;
         option.vertCount = pmesh.nverts;
@@ -63,13 +75,15 @@ public class TestDetourBuilder : DetourBuilder {
         option.polyFlags = pmesh.flags;
         option.polyCount = pmesh.npolys;
         option.nvp = pmesh.nvp;
-        if (dmesh != null) {
+        if (dmesh != null)
+        {
             option.detailMeshes = dmesh.meshes;
             option.detailVerts = dmesh.verts;
             option.detailVertsCount = dmesh.nverts;
             option.detailTris = dmesh.tris;
             option.detailTriCount = dmesh.ntris;
         }
+
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
@@ -86,6 +100,5 @@ public class TestDetourBuilder : DetourBuilder {
          * option.offMeshConCount = m_geom->getOffMeshConnectionCount();
          */
         return option;
-
     }
 }

test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs

@@ -20,13 +20,12 @@ using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
-
 using static DotRecast.Recast.RecastVectors;
 
 namespace DotRecast.Detour.Test;
 
-public class TestTiledNavMeshBuilder {
+public class TestTiledNavMeshBuilder
-
+{
     private readonly NavMesh navMesh;
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
@@ -56,8 +55,8 @@ public class TestTiledNavMeshBuilder {
     public TestTiledNavMeshBuilder(InputGeomProvider m_geom, PartitionType m_partitionType, float m_cellSize, float m_cellHeight,
         float m_agentHeight, float m_agentRadius, float m_agentMaxClimb, float m_agentMaxSlope, int m_regionMinSize,
         int m_regionMergeSize, float m_edgeMaxLen, float m_edgeMaxError, int m_vertsPerPoly, float m_detailSampleDist,
-            float m_detailSampleMaxError, int m_tileSize) {
+        float m_detailSampleMaxError, int m_tileSize)
-
+    {
         // Create empty nav mesh
         NavMeshParams navMeshParams = new NavMeshParams();
         copy(navMeshParams.orig, m_geom.getMeshBoundsMin());
@@ -77,14 +76,19 @@ public class TestTiledNavMeshBuilder {
 
         // Add tiles to nav mesh
 
-        foreach (RecastBuilderResult result in rcResult) {
+        foreach (RecastBuilderResult result in rcResult)
+        {
             PolyMesh pmesh = result.getMesh();
-            if (pmesh.npolys == 0) {
+            if (pmesh.npolys == 0)
+            {
                 continue;
             }
-            for (int i = 0; i < pmesh.npolys; ++i) {
+
+            for (int i = 0; i < pmesh.npolys; ++i)
+            {
                 pmesh.flags[i] = 1;
             }
+
             NavMeshDataCreateParams option = new NavMeshDataCreateParams();
             option.verts = pmesh.verts;
             option.vertCount = pmesh.nverts;
@@ -113,8 +117,8 @@ public class TestTiledNavMeshBuilder {
         }
     }
 
-    public NavMesh getNavMesh() {
+    public NavMesh getNavMesh()
+    {
         return navMesh;
     }
-
 }

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -21,16 +21,23 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-public class TiledFindPathTest {
+public class TiledFindPathTest
-
+{
     private static readonly Status[] STATUSES = { Status.SUCCSESS };
-    private static readonly long[][] RESULTS = { 
+
-    new[] { 281475015507969L, 281475014459393L, 281475014459392L, 281475006070784L,
+    private static readonly long[][] RESULTS =
+    {
+        new[]
+        {
+            281475015507969L, 281475014459393L, 281475014459392L, 281475006070784L,
             281475005022208L, 281475003973636L, 281475012362240L, 281475012362241L, 281475012362242L, 281475003973634L,
             281475003973635L, 281475003973633L, 281475002925059L, 281475002925057L, 281475002925056L, 281474998730753L,
             281474998730754L, 281474994536450L, 281474994536451L, 281474994536452L, 281474994536448L, 281474990342146L,
             281474990342145L, 281474991390723L, 281474991390724L, 281474991390725L, 281474987196418L, 281474987196417L,
-            281474988244996L, 281474988244995L, 281474988244997L, 281474985099266L } };
+            281474988244996L, 281474988244995L, 281474988244997L, 281474985099266L
+        }
+    };
+
     protected static readonly long[] START_REFS = { 281475015507969L };
     protected static readonly long[] END_REFS = { 281474985099266L };
     protected static readonly float[][] START_POS = { new[] { 39.447338f, 9.998177f, -0.784811f } };
@@ -40,19 +47,23 @@ public class TiledFindPathTest {
     protected NavMesh navmesh;
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
+    {
         navmesh = createNavMesh();
         query = new NavMeshQuery(navmesh);
     }
 
-    protected NavMesh createNavMesh() {
+    protected NavMesh createNavMesh()
+    {
         return new TestTiledNavMeshBuilder().getNavMesh();
     }
 
     [Test]
-    public void testFindPath() {
+    public void testFindPath()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < START_REFS.Length; i++) {
+        for (int i = 0; i < START_REFS.Length; i++)
+        {
             long startRef = START_REFS[i];
             long endRef = END_REFS[i];
             float[] startPos = START_POS[i];
@@ -60,10 +71,10 @@ public class TiledFindPathTest {
             Result<List<long>> path = query.findPath(startRef, endRef, startPos, endPos, filter);
             Assert.That(path.status, Is.EqualTo(STATUSES[i]));
             Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
-            for (int j = 0; j < RESULTS[i].Length; j++) {
+            for (int j = 0; j < RESULTS[i].Length; j++)
+            {
                 Assert.That(RESULTS[i][j], Is.EqualTo(path.result[j]));
             }
         }
     }
-
 }

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

@@ -21,14 +21,13 @@ freely, subject to the following restrictions:
 using DotRecast.Core;
 using DotRecast.Detour.TileCache.Io.Compress;
 using DotRecast.Recast.Geom;
-
 using static DotRecast.Detour.DetourCommon;
 using static DotRecast.Recast.RecastVectors;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class AbstractTileCacheTest {
+public class AbstractTileCacheTest
-
+{
     private const int EXPECTED_LAYERS_PER_TILE = 4;
     private readonly float m_cellSize = 0.3f;
     private readonly float m_cellHeight = 0.2f;
@@ -38,15 +37,19 @@ public class AbstractTileCacheTest {
     private readonly float m_edgeMaxError = 1.3f;
     private readonly int m_tileSize = 48;
 
-    protected class TestTileCacheMeshProcess : TileCacheMeshProcess {
+    protected class TestTileCacheMeshProcess : TileCacheMeshProcess
-        public void process(NavMeshDataCreateParams option) {
+    {
-            for (int i = 0; i < option.polyCount; ++i) {
+        public void process(NavMeshDataCreateParams option)
+        {
+            for (int i = 0; i < option.polyCount; ++i)
+            {
                 option.polyFlags[i] = 1;
             }
         }
     }
 
-    public TileCache getTileCache(InputGeomProvider geom, ByteOrder order, bool cCompatibility) {
+    public TileCache getTileCache(InputGeomProvider geom, ByteOrder order, bool cCompatibility)
+    {
         TileCacheParams option = new TileCacheParams();
         int[] twh = Recast.Recast.calcTileCount(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize);
         option.ch = m_cellHeight;
@@ -71,5 +74,4 @@ public class AbstractTileCacheTest {
             TileCacheCompressorFactory.get(cCompatibility), new TestTileCacheMeshProcess());
         return tc;
     }
-
 }

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

@@ -6,10 +6,10 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -17,9 +17,9 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Detour.TileCache\DotRecast.Detour.TileCache.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour.TileCache\DotRecast.Detour.TileCache.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Detour\DotRecast.Detour.csproj"/>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>

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

@@ -26,13 +26,13 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-public class TileCacheReaderTest {
+public class TileCacheReaderTest
-
+{
     private readonly TileCacheReader reader = new TileCacheReader();
 
     [Test]
-    public void testNavmesh() {
+    public void testNavmesh()
-
+    {
         using var ms = new MemoryStream(Loader.ToBytes("all_tiles_tilecache.bin"));
         using var @is = new BinaryReader(ms);
         TileCache tc = reader.read(@is, 6, null);
@@ -129,7 +129,8 @@ public class TileCacheReaderTest {
     }
 
     [Test]
-    public void testDungeon() {
+    public void testDungeon()
+    {
         using var ms = new MemoryStream(Loader.ToBytes("dungeon_all_tiles_tilecache.bin"));
         using var @is = new BinaryReader(ms);
         TileCache tc = reader.read(@is, 6, null);
@@ -220,5 +221,4 @@ public class TileCacheReaderTest {
         Assert.That(data.verts[6], Is.EqualTo(48.484783f).Within(0.0001f));
         Assert.That(data.verts[9], Is.EqualTo(48.484783f).Within(0.0001f));
     }
-
 }

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

@@ -28,30 +28,33 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-
+public class TileCacheReaderWriterTest : AbstractTileCacheTest
-public class TileCacheReaderWriterTest : AbstractTileCacheTest {
+{
-
     private readonly TileCacheReader reader = new TileCacheReader();
     private readonly TileCacheWriter writer = new TileCacheWriter();
 
     [Test]
-    public void testFastLz() {
+    public void testFastLz()
+    {
         testDungeon(false);
         testDungeon(true);
     }
 
     [Test]
-    public void testLZ4() {
+    public void testLZ4()
+    {
         testDungeon(true);
         testDungeon(false);
     }
 
-    private void testDungeon(bool cCompatibility) {
+    private void testDungeon(bool cCompatibility)
+    {
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
         List<byte[]> layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1);
         TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility);
-        foreach (byte[] layer in layers) {
+        foreach (byte[] layer in layers)
+        {
             long refs = tc.addTile(layer, 0);
             tc.buildNavMeshTile(refs);
         }
@@ -134,5 +137,4 @@ public class TileCacheReaderWriterTest : AbstractTileCacheTest {
         Assert.That(data.detailVerts.Length, Is.EqualTo(0));
         Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3));
     }
-
 }

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

@@ -22,35 +22,43 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-
+public class SampleAreaModifications
-
+{
-public class SampleAreaModifications {
-
     public static int SAMPLE_POLYAREA_TYPE_MASK = 0x07;
+
     /// Value for the kind of ceil "ground"
     public static int SAMPLE_POLYAREA_TYPE_GROUND = 0x1;
+
     /// Value for the kind of ceil "water"
     public static int SAMPLE_POLYAREA_TYPE_WATER = 0x2;
+
     /// Value for the kind of ceil "road"
     public static int SAMPLE_POLYAREA_TYPE_ROAD = 0x3;
+
     /// Value for the kind of ceil "grass"
     public static int SAMPLE_POLYAREA_TYPE_GRASS = 0x4;
+
     /// Flag for door area. Can be combined with area types and jump flag.
     public static int SAMPLE_POLYAREA_FLAG_DOOR = 0x08;
+
     /// Flag for jump area. Can be combined with area types and door flag.
     public static int SAMPLE_POLYAREA_FLAG_JUMP = 0x10;
 
     public static AreaModification SAMPLE_AREAMOD_GROUND = new AreaModification(SAMPLE_POLYAREA_TYPE_GROUND,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_WATER = new AreaModification(SAMPLE_POLYAREA_TYPE_WATER,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_ROAD = new AreaModification(SAMPLE_POLYAREA_TYPE_ROAD,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_GRASS = new AreaModification(SAMPLE_POLYAREA_TYPE_GRASS,
         SAMPLE_POLYAREA_TYPE_MASK);
+
     public static AreaModification SAMPLE_AREAMOD_DOOR = new AreaModification(SAMPLE_POLYAREA_FLAG_DOOR,
         SAMPLE_POLYAREA_FLAG_DOOR);
+
     public static AreaModification SAMPLE_AREAMOD_JUMP = new AreaModification(SAMPLE_POLYAREA_FLAG_JUMP,
         SAMPLE_POLYAREA_FLAG_JUMP);
-
 }

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

@@ -26,19 +26,22 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class TempObstaclesTest : AbstractTileCacheTest {
+public class TempObstaclesTest : AbstractTileCacheTest
-
+{
     [Test]
-    public void testDungeon() {
+    public void testDungeon()
+    {
         bool cCompatibility = true;
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
         List<byte[]> layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1);
         TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility);
-        foreach (byte[] data in layers) {
+        foreach (byte[] data in layers)
+        {
             long refs = tc.addTile(data, 0);
             tc.buildNavMeshTile(refs);
         }
+
         List<MeshTile> tiles = tc.getNavMesh().getTilesAt(1, 4);
         MeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
@@ -60,16 +63,19 @@ public class TempObstaclesTest : AbstractTileCacheTest {
     }
 
     [Test]
-    public void testDungeonBox() {
+    public void testDungeonBox()
+    {
         bool cCompatibility = true;
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
         List<byte[]> layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1);
         TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility);
-        foreach (byte[] data in layers) {
+        foreach (byte[] data in layers)
+        {
             long refs = tc.addTile(data, 0);
             tc.buildNavMeshTile(refs);
         }
+
         List<MeshTile> tiles = tc.getNavMesh().getTilesAt(1, 4);
         MeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));

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

@@ -22,13 +22,12 @@ using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
-
 using static DotRecast.Detour.DetourCommon;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class TestTileLayerBuilder : AbstractTileLayersBuilder {
+public class TestTileLayerBuilder : AbstractTileLayersBuilder
-
+{
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
     private const float m_agentHeight = 2.0f;
@@ -50,7 +49,8 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder {
     private readonly int tw;
     private readonly int th;
 
-    public TestTileLayerBuilder(InputGeomProvider geom) {
+    public TestTileLayerBuilder(InputGeomProvider geom)
+    {
         this.geom = geom;
         rcConfig = new RecastConfig(true, m_tileSize, m_tileSize, RecastConfig.calcBorder(m_agentRadius, m_cellSize),
             PartitionType.WATERSHED, m_cellSize, m_cellHeight, m_agentMaxSlope, true, true, true, m_agentHeight,
@@ -63,24 +63,30 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder {
         th = twh[1];
     }
 
-    public List<byte[]> build(ByteOrder order, bool cCompatibility, int threads) {
+    public List<byte[]> build(ByteOrder order, bool cCompatibility, int threads)
+    {
         return build(order, cCompatibility, threads, tw, th);
     }
 
-    public int getTw() {
+    public int getTw()
+    {
         return tw;
     }
 
-    public int getTh() {
+    public int getTh()
+    {
         return th;
     }
 
-    protected override List<byte[]> build(int tx, int ty, ByteOrder order, bool cCompatibility) {
+    protected override List<byte[]> build(int tx, int ty, ByteOrder order, bool cCompatibility)
+    {
         HeightfieldLayerSet lset = getHeightfieldSet(tx, ty);
         List<byte[]> result = new();
-        if (lset != null) {
+        if (lset != null)
+        {
             TileCacheBuilder builder = new TileCacheBuilder();
-            for (int i = 0; i < lset.layers.Length; ++i) {
+            for (int i = 0; i < lset.layers.Length; ++i)
+            {
                 HeightfieldLayerSet.HeightfieldLayer layer = lset.layers[i];
 
                 // Store header
@@ -107,10 +113,12 @@ public class TestTileLayerBuilder : AbstractTileLayersBuilder {
                 result.Add(builder.compressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, order, cCompatibility));
             }
         }
+
         return result;
     }
 
-    protected HeightfieldLayerSet getHeightfieldSet(int tx, int ty) {
+    protected HeightfieldLayerSet getHeightfieldSet(int tx, int ty)
+    {
         RecastBuilder rcBuilder = new RecastBuilder();
         float[] bmin = geom.getMeshBoundsMin();
         float[] bmax = geom.getMeshBoundsMax();

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

@@ -26,14 +26,15 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class TileCacheFindPathTest : AbstractTileCacheTest {
+public class TileCacheFindPathTest : AbstractTileCacheTest
-
+{
     private readonly float[] start = { 39.44734f, 9.998177f, -0.784811f };
     private readonly float[] end = { 19.292645f, 11.611748f, -57.750366f };
     private readonly NavMesh navmesh;
     private readonly NavMeshQuery query;
 
-    public TileCacheFindPathTest() {
+    public TileCacheFindPathTest()
+    {
         using var msis = new MemoryStream(Loader.ToBytes("dungeon_all_tiles_tilecache.bin"));
         using var @is = new BinaryReader(msis);
         TileCache tcC = new TileCacheReader().read(@is, 6, new TestTileCacheMeshProcess());
@@ -42,7 +43,8 @@ public class TileCacheFindPathTest : AbstractTileCacheTest {
     }
 
     [Test]
-    public void testFindPath() {
+    public void testFindPath()
+    {
         QueryFilter filter = new DefaultQueryFilter();
         float[] extents = new float[] { 2f, 4f, 2f };
         Result<FindNearestPolyResult> findPolyStart = query.findNearestPoly(start, extents, filter);
@@ -58,5 +60,4 @@ public class TileCacheFindPathTest : AbstractTileCacheTest {
             options);
         Assert.That(pathStr.result.Count, Is.EqualTo(8));
     }
-
 }

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

@@ -26,50 +26,64 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class TileCacheNavigationTest : AbstractTileCacheTest {
+public class TileCacheNavigationTest : AbstractTileCacheTest
-
+{
     protected readonly long[] startRefs = { 281475006070787L };
     protected readonly long[] endRefs = { 281474986147841L };
     protected readonly float[][] startPoss = { new[] { 39.447338f, 9.998177f, -0.784811f } };
     protected readonly float[][] endPoss = { new[] { 19.292645f, 11.611748f, -57.750366f } };
     private readonly Status[] statuses = { Status.SUCCSESS };
-    private readonly long[][] results = { new[] { 281475006070787L, 281475006070785L, 281475005022208L, 281475005022209L, 281475003973633L,
+
+    private readonly long[][] results =
+    {
+        new[]
+        {
+            281475006070787L, 281475006070785L, 281475005022208L, 281475005022209L, 281475003973633L,
             281475003973634L, 281475003973632L, 281474996633604L, 281474996633605L, 281474996633603L, 281474995585027L,
             281474995585029L, 281474995585026L, 281474995585028L, 281474995585024L, 281474991390721L, 281474991390722L,
             281474991390725L, 281474991390720L, 281474987196418L, 281474987196417L, 281474988244995L, 281474988245001L,
             281474988244997L, 281474988244998L, 281474988245002L, 281474988245000L, 281474988244999L, 281474988244994L,
-            281474985099264L, 281474985099266L, 281474986147841L } };
+            281474985099264L, 281474985099266L, 281474986147841L
+        }
+    };
 
     protected NavMesh navmesh;
     protected NavMeshQuery query;
 
     [SetUp]
-    public void setUp() {
+    public void setUp()
-
+    {
         bool cCompatibility = true;
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
         List<byte[]> layers = layerBuilder.build(ByteOrder.LITTLE_ENDIAN, cCompatibility, 1);
         TileCache tc = getTileCache(geom, ByteOrder.LITTLE_ENDIAN, cCompatibility);
-        foreach (byte[] data in layers) {
+        foreach (byte[] data in layers)
+        {
             tc.addTile(data, 0);
         }
-        for (int y = 0; y < layerBuilder.getTh(); ++y) {
+
-            for (int x = 0; x < layerBuilder.getTw(); ++x) {
+        for (int y = 0; y < layerBuilder.getTh(); ++y)
-                foreach (long refs in tc.getTilesAt(x, y)) {
+        {
+            for (int x = 0; x < layerBuilder.getTw(); ++x)
+            {
+                foreach (long refs in tc.getTilesAt(x, y))
+                {
                     tc.buildNavMeshTile(refs);
                 }
             }
         }
+
         navmesh = tc.getNavMesh();
         query = new NavMeshQuery(navmesh);
-
     }
 
     [Test]
-    public void testFindPathWithDefaultHeuristic() {
+    public void testFindPathWithDefaultHeuristic()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             long endRef = endRefs[i];
             float[] startPos = startPoss[i];
@@ -77,16 +91,19 @@ public class TileCacheNavigationTest : AbstractTileCacheTest {
             Result<List<long>> path = query.findPath(startRef, endRef, startPos, endPos, filter);
             Assert.That(path.status, Is.EqualTo(statuses[i]));
             Assert.That(path.result.Count, Is.EqualTo(results[i].Length));
-            for (int j = 0; j < results[i].Length; j++) {
+            for (int j = 0; j < results[i].Length; j++)
+            {
                 Assert.That(path.result[j], Is.EqualTo(results[i][j])); // TODO : 확인 필요
             }
         }
     }
 
     [Test]
-    public void testFindPathWithNoHeuristic() {
+    public void testFindPathWithNoHeuristic()
+    {
         QueryFilter filter = new DefaultQueryFilter();
-        for (int i = 0; i < startRefs.Length; i++) {
+        for (int i = 0; i < startRefs.Length; i++)
+        {
             long startRef = startRefs[i];
             long endRef = endRefs[i];
             float[] startPos = startPoss[i];
@@ -95,10 +112,10 @@ public class TileCacheNavigationTest : AbstractTileCacheTest {
                 0, 0);
             Assert.That(path.status, Is.EqualTo(statuses[i]));
             Assert.That(path.result.Count, Is.EqualTo(results[i].Length));
-            for (int j = 0; j < results[i].Length; j++) {
+            for (int j = 0; j < results[i].Length; j++)
+            {
                 Assert.That(path.result[j], Is.EqualTo(results[i][j])); // TODO : 확인 필요
             }
         }
     }
-
 }

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

@@ -28,10 +28,11 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-public class TileCacheTest : AbstractTileCacheTest {
+public class TileCacheTest : AbstractTileCacheTest
-
+{
     [Test]
-    public void testFastLz() {
+    public void testFastLz()
+    {
         testDungeon(ByteOrder.LITTLE_ENDIAN, false);
         testDungeon(ByteOrder.LITTLE_ENDIAN, true);
         testDungeon(ByteOrder.BIG_ENDIAN, false);
@@ -43,7 +44,8 @@ public class TileCacheTest : AbstractTileCacheTest {
     }
 
     [Test]
-    public void testLZ4() {
+    public void testLZ4()
+    {
         testDungeon(ByteOrder.LITTLE_ENDIAN, false);
         testDungeon(ByteOrder.LITTLE_ENDIAN, true);
         testDungeon(ByteOrder.BIG_ENDIAN, false);
@@ -54,7 +56,8 @@ public class TileCacheTest : AbstractTileCacheTest {
         test(ByteOrder.BIG_ENDIAN, true);
     }
 
-    private void testDungeon(ByteOrder order, bool cCompatibility) {
+    private void testDungeon(ByteOrder order, bool cCompatibility)
+    {
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TileCache tc = getTileCache(geom, order, cCompatibility);
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
@@ -62,13 +65,15 @@ public class TileCacheTest : AbstractTileCacheTest {
         int cacheLayerCount = 0;
         int cacheCompressedSize = 0;
         int cacheRawSize = 0;
-        foreach (byte[] layer in layers) {
+        foreach (byte[] layer in layers)
+        {
             long refs = tc.addTile(layer, 0);
             tc.buildNavMeshTile(refs);
             cacheLayerCount++;
             cacheCompressedSize += layer.Length;
             cacheRawSize += 4 * 48 * 48 + 56; // FIXME
         }
+
         Console.WriteLine("Compressor: " + tc.getCompressor().GetType().Name + " C Compatibility: " + cCompatibility
                           + " Layers: " + cacheLayerCount + " Raw Size: " + cacheRawSize + " Compressed: " + cacheCompressedSize);
         Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256));
@@ -147,7 +152,8 @@ public class TileCacheTest : AbstractTileCacheTest {
         Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3));
     }
 
-    private void test(ByteOrder order, bool cCompatibility) {
+    private void test(ByteOrder order, bool cCompatibility)
+    {
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("nav_test.obj"));
         TileCache tc = getTileCache(geom, order, cCompatibility);
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
@@ -155,46 +161,56 @@ public class TileCacheTest : AbstractTileCacheTest {
         int cacheLayerCount = 0;
         int cacheCompressedSize = 0;
         int cacheRawSize = 0;
-        foreach (byte[] layer in layers) {
+        foreach (byte[] layer in layers)
+        {
             long refs = tc.addTile(layer, 0);
             tc.buildNavMeshTile(refs);
             cacheLayerCount++;
             cacheCompressedSize += layer.Length;
             cacheRawSize += 4 * 48 * 48 + 56;
         }
+
         Console.WriteLine("Compressor: " + tc.getCompressor().GetType().Name + " C Compatibility: " + cCompatibility
                           + " Layers: " + cacheLayerCount + " Raw Size: " + cacheRawSize + " Compressed: " + cacheCompressedSize);
     }
 
     [Test]
-    public void testPerformance() {
+    public void testPerformance()
+    {
         int threads = 4;
         ByteOrder order = ByteOrder.LITTLE_ENDIAN;
         bool cCompatibility = false;
         InputGeomProvider geom = ObjImporter.load(Loader.ToBytes("dungeon.obj"));
         TestTileLayerBuilder layerBuilder = new TestTileLayerBuilder(geom);
-        for (int i = 0; i < 4; i++) {
+        for (int i = 0; i < 4; i++)
+        {
             layerBuilder.build(order, cCompatibility, 1);
             layerBuilder.build(order, cCompatibility, threads);
         }
 
         long t1 = Stopwatch.GetTimestamp();
         List<byte[]> layers = null;
-        for (int i = 0; i < 8; i++) {
+        for (int i = 0; i < 8; i++)
+        {
             layers = layerBuilder.build(order, cCompatibility, 1);
         }
+
         long t2 = Stopwatch.GetTimestamp();
-        for (int i = 0; i < 8; i++) {
+        for (int i = 0; i < 8; i++)
+        {
             layers = layerBuilder.build(order, cCompatibility, threads);
         }
+
         long t3 = Stopwatch.GetTimestamp();
         Console.WriteLine(" Time ST : " + (t2 - t1) / 1000000);
         Console.WriteLine(" Time MT : " + (t3 - t2) / 1000000);
         TileCache tc = getTileCache(geom, order, cCompatibility);
-        foreach (byte[] layer in layers) {
+        foreach (byte[] layer in layers)
+        {
             long refs = tc.addTile(layer, 0);
             tc.buildNavMeshTile(refs);
         }
+
         Assert.That(tc.getNavMesh().getMaxTiles(), Is.EqualTo(256));
         Assert.That(tc.getNavMesh().getParams().maxPolys, Is.EqualTo(16384));
         Assert.That(tc.getNavMesh().getParams().tileWidth, Is.EqualTo(14.4f).Within(0.001f));
@@ -269,5 +285,4 @@ public class TileCacheTest : AbstractTileCacheTest {
         Assert.That(data.detailVerts.Length, Is.EqualTo(0));
         Assert.That(data.detailTris.Length, Is.EqualTo(4 * 3));
     }
-
 }

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

@@ -8,10 +8,10 @@
     </PropertyGroup>
 
     <ItemGroup>
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.5.0"/>
-    <PackageReference Include="NUnit" Version="3.13.3" />
+        <PackageReference Include="NUnit" Version="3.13.3"/>
-    <PackageReference Include="NUnit3TestAdapter" Version="4.4.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.4.0"/>
-    <PackageReference Include="NUnit.Analyzers" Version="3.5.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="3.5.0"/>
         <PackageReference Include="coverlet.collector" Version="3.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
@@ -19,7 +19,7 @@
     </ItemGroup>
 
     <ItemGroup>
-    <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj" />
+        <ProjectReference Include="..\..\src\DotRecast.Recast\DotRecast.Recast.csproj"/>
     </ItemGroup>
 
 </Project>