From f81975d97a0f641dae45f07b81920114b3b69e47 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 30 Apr 2024 00:13:42 +0900
Subject: [PATCH 001/147] benchmark

---
 test/DotRecast.Detour.Test/RandomPointTest.cs | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs
index c98079f..dccaf0f 100644
--- a/test/DotRecast.Detour.Test/RandomPointTest.cs
+++ b/test/DotRecast.Detour.Test/RandomPointTest.cs
@@ -29,11 +29,14 @@ namespace DotRecast.Detour.Test;
 public class RandomPointTest : AbstractDetourTest
 {
     [Test]
+    [Repeat(10)]
     public void TestRandom()
     {
         RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        for (int i = 0; i < 1000; i++)
+
+        var begin = RcFrequency.Ticks;
+        for (int i = 0; i < 10000; i++)
         {
             var status = query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
             Assert.That(status.Succeeded(), Is.True);
@@ -55,6 +58,9 @@ public class RandomPointTest : AbstractDetourTest
             Assert.That(randomPt.Z >= bmin[1], Is.True);
             Assert.That(randomPt.Z <= bmax[1], Is.True);
         }
+
+        var ticks = RcFrequency.Ticks - begin;
+        Console.WriteLine($"RandomPointTest::TestRandom() - {(double)ticks / TimeSpan.TicksPerMillisecond} ms");
     }
 
     [Test]

From 29fab9f5b20b13487a91a765d2ce352869772421 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 30 Apr 2024 00:11:09 +0900
Subject: [PATCH 002/147] soh-1

---
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 8 ++++----
 src/DotRecast.Detour/DtUtils.cs               | 4 ++--
 test/DotRecast.Detour.Test/RandomPointTest.cs | 4 +---
 3 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index c4dd060..678c05a 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -137,12 +137,12 @@ namespace DotRecast.Detour
             }
 
             // Randomly pick point on polygon.
-            float[] verts = new float[3 * m_nav.GetMaxVertsPerPoly()];
-            float[] areas = new float[m_nav.GetMaxVertsPerPoly()];
-            RcArrays.Copy(tile.data.verts, poly.verts[0] * 3, verts, 0, 3);
+            Span<float> verts = stackalloc float[3 * m_nav.GetMaxVertsPerPoly()];
+            Span<float> areas = stackalloc float[m_nav.GetMaxVertsPerPoly()];
+            RcSpans.Copy(tile.data.verts, poly.verts[0] * 3, verts, 0, 3);
             for (int j = 1; j < poly.vertCount; ++j)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[j] * 3, verts, j * 3, 3);
+                RcSpans.Copy(tile.data.verts, poly.verts[j] * 3, verts, j * 3, 3);
             }
 
             float s = frand.Next();
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 91644e5..adb6e9f 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -145,7 +145,7 @@ namespace DotRecast.Detour
         /// @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(Span<float> verts, int a, int b, int c)
         {
             float abx = verts[b] - verts[a];
             float abz = verts[b + 2] - verts[a + 2];
@@ -165,7 +165,7 @@ namespace DotRecast.Detour
 
         // Returns a random point in a convex polygon.
         // Adapted from Graphics Gems article.
-        public static RcVec3f RandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t)
+        public static RcVec3f RandomPointInConvexPoly(Span<float> pts, int npts, Span<float> areas, float s, float t)
         {
             // Calc triangle araes
             float areasum = 0.0f;
diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs
index dccaf0f..c8dc58f 100644
--- a/test/DotRecast.Detour.Test/RandomPointTest.cs
+++ b/test/DotRecast.Detour.Test/RandomPointTest.cs
@@ -19,13 +19,11 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
 using NUnit.Framework;
 
 
 namespace DotRecast.Detour.Test;
 
-
 public class RandomPointTest : AbstractDetourTest
 {
     [Test]
@@ -78,7 +76,7 @@ public class RandomPointTest : AbstractDetourTest
             randomPt = nextRandomPt;
 
             status = navmesh.GetTileAndPolyByRef(randomRef, out var tile, out var poly);
-            
+
             float[] bmin = new float[2];
             float[] bmax = new float[2];
             for (int j = 0; j < poly.vertCount; j++)

From a84d66195ed989224814a216d94bf269661b1f2e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 1 May 2024 12:54:57 +0900
Subject: [PATCH 003/147] added RcRentedArray test

---
 test/DotRecast.Core.Test/RcRentedArrayTest.cs | 47 +++++++++++++++++++
 1 file changed, 47 insertions(+)

diff --git a/test/DotRecast.Core.Test/RcRentedArrayTest.cs b/test/DotRecast.Core.Test/RcRentedArrayTest.cs
index 07d1f1b..0974f0d 100644
--- a/test/DotRecast.Core.Test/RcRentedArrayTest.cs
+++ b/test/DotRecast.Core.Test/RcRentedArrayTest.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core.Buffers;
 using NUnit.Framework;
 
@@ -56,4 +57,50 @@ public class RcRentedArrayTest
             Assert.Throws<NullReferenceException>(() => rentedArray[^1] = 0);
         }
     }
+
+    [Test]
+    public void TestSame()
+    {
+        // not same
+        {
+            using var r1 = RcRentedArray.Rent<float>(1024);
+            using var r2 = RcRentedArray.Rent<float>(1024);
+
+            Assert.That(r2.AsArray() != r1.AsArray(), Is.EqualTo(true));
+        }
+
+        // same
+        {
+            // error case 
+            float[] r1Array;
+            using (var r1 = RcRentedArray.Rent<float>(1024))
+            {
+                r1Array = r1.AsArray();
+                for (int i = 0; i < r1.Length; ++i)
+                {
+                    r1[i] = 123;
+                }
+            }
+
+            using var r2 = RcRentedArray.Rent<float>(1024);
+
+            Assert.That(r2.AsArray() == r1Array, Is.EqualTo(true));
+            Assert.That(r2.AsArray().Sum(), Is.EqualTo(0));
+        }
+    }
+
+    [Test]
+    public void TestDispose()
+    {
+        var r1 = RcRentedArray.Rent<float>(1024);
+        for (int i = 0; i < r1.Length; ++i)
+        {
+            r1[i] = 123;
+        }
+
+        Assert.That(r1.IsDisposed, Is.EqualTo(false));
+        r1.Dispose();
+        Assert.That(r1.IsDisposed, Is.EqualTo(true));
+        Assert.That(r1.AsArray(), Is.Null);
+    }
 }
\ No newline at end of file

From 1e0ef4f5cce40def0209922d3cd10e4e8efe58a3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 1 May 2024 13:03:34 +0900
Subject: [PATCH 004/147] SOH-2 - Span<float> pat = stackalloc
 float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];

- https://github.com/ikpil/DotRecast/issues/41
---
 .../DtObstacleAvoidanceQuery.cs                | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
index 1b6e240..dfa6ceb 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Runtime.CompilerServices;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -27,11 +28,9 @@ namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceQuery
     {
-        public const int DT_MAX_PATTERN_DIVS = 32;
-
-        /// < Max numver of adaptive divs.
+        public const int DT_MAX_PATTERN_DIVS = 32; // < Max numver of adaptive divs.
         public const int DT_MAX_PATTERN_RINGS = 4;
-
+        public const float DT_PI = 3.14159265f;
 
         private DtObstacleAvoidanceParams m_params;
         private float m_invHorizTime;
@@ -362,7 +361,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        void DtNormalize2D(float[] v)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        void DtNormalize2D(Span<float> v)
         {
             float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
             if (d == 0)
@@ -373,7 +373,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        RcVec3f DtRotate2D(float[] v, float ang)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        RcVec3f DtRotate2D(Span<float> v, float ang)
         {
             RcVec3f dest = new RcVec3f();
             float c = MathF.Cos(ang);
@@ -384,7 +385,6 @@ namespace DotRecast.Detour.Crowd
             return dest;
         }
 
-        static readonly float DT_PI = 3.14159265f;
 
         public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel,
             DtObstacleAvoidanceParams option,
@@ -402,7 +402,7 @@ namespace DotRecast.Detour.Crowd
                 debug.Reset();
 
             // Build sampling pattern aligned to desired velocity.
-            float[] pat = new float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
+            Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
             int npat = 0;
 
             int ndivs = m_params.adaptiveDivs;
@@ -416,7 +416,7 @@ namespace DotRecast.Detour.Crowd
             float sa = MathF.Sin(da);
 
             // desired direction
-            float[] ddir = new float[6];
+            Span<float> ddir = stackalloc float[6];
             ddir[0] = dvel.X;
             ddir[1] = dvel.Y;
             ddir[2] = dvel.Z;

From daf552b4b75836d34bb4ee2e8002720f3ef966f4 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 2 May 2024 23:12:33 +0900
Subject: [PATCH 005/147] SOH - Span<float> verts = stackalloc
 float[m_maxVertPerPoly * 3];

https://github.com/ikpil/DotRecast/issues/41
---
 src/DotRecast.Detour/DtNavMesh.cs | 29 +++++++++--------------------
 src/DotRecast.Detour/DtUtils.cs   |  2 +-
 2 files changed, 10 insertions(+), 21 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 4b5f49d..70bddcd 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -66,30 +66,19 @@ namespace DotRecast.Detour
         /// The limit is given as a multiple of the character radius
         public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
 
-        private readonly DtNavMeshParams m_params;
-
-        /// < Current initialization params. TODO: do not store this info twice.
-        private readonly RcVec3f m_orig;
-
-        /// < Origin of the tile (0,0)
+        private readonly DtNavMeshParams m_params; // < Current initialization params. TODO: do not store this info twice.
+        private readonly RcVec3f m_orig; // < Origin of the tile (0,0)
         // float m_orig[3]; ///< Origin of the tile (0,0)
+
         private float m_tileWidth;
-
-        private float m_tileHeight;
-
-        /// < Dimensions of each tile.
-        int m_maxTiles;
-
-        /// < Max number of tiles.
-        private readonly int m_tileLutMask;
-
-        /// < Tile hash lookup mask.
+        private float m_tileHeight; // < Dimensions of each tile.
+        int m_maxTiles; // < Max number of tiles.
+        private readonly int m_tileLutMask; // < Tile hash lookup mask.
         private readonly Dictionary<int, List<DtMeshTile>> posLookup = new Dictionary<int, List<DtMeshTile>>();
 
         private readonly LinkedList<DtMeshTile> availableTiles = new LinkedList<DtMeshTile>();
-        private readonly DtMeshTile[] m_tiles;
+        private readonly DtMeshTile[] m_tiles; // List of tiles.
 
-        /// < List of tiles.
         /** The maximum number of vertices per navigation polygon. */
         private readonly int m_maxVertPerPoly;
 
@@ -1246,11 +1235,11 @@ namespace DotRecast.Detour
 
             int ip = poly.index;
 
-            float[] verts = new float[m_maxVertPerPoly * 3];
+            Span<float> verts = stackalloc float[m_maxVertPerPoly * 3];
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
+                RcSpans.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
             if (!DtUtils.PointInPolygon(pos, verts, nv))
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index adb6e9f..b2cdc08 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -267,7 +267,7 @@ namespace DotRecast.Detour
         /// @par
         ///
         /// All points are projected onto the xz-plane, so the y-values are ignored.
-        public static bool PointInPolygon(RcVec3f pt, float[] verts, int nverts)
+        public static bool PointInPolygon(RcVec3f pt, Span<float> verts, int nverts)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;

From 9e9a3f0dc246e2fcbbfdaf41105c9370a9d2e7da Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 3 May 2024 00:19:12 +0900
Subject: [PATCH 006/147] SOH

https://github.com/ikpil/DotRecast/issues/41
---
 src/DotRecast.Core/Numerics/RcVecUtils.cs |  6 +++---
 src/DotRecast.Detour/DtNavMeshQuery.cs    | 20 ++++++++++----------
 src/DotRecast.Detour/DtUtils.cs           |  8 ++++----
 3 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index bbe9efd..68816b1 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -14,7 +14,7 @@ namespace DotRecast.Core.Numerics
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Create(float[] values, int n)
+        public static RcVec3f Create(Span<float> values, int n)
         {
             return new RcVec3f(values[n + 0], values[n + 1], values[n + 2]);
         }
@@ -63,7 +63,7 @@ namespace DotRecast.Core.Numerics
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot2D(this RcVec3f @this, float[] v, int vi)
+        public static float Dot2D(this RcVec3f @this, Span<float> v, int vi)
         {
             return @this.X * v[vi] +
                    @this.Z * v[vi + 2];
@@ -262,7 +262,7 @@ namespace DotRecast.Core.Numerics
         /// @param[in] v2 The destination vector.
         /// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Lerp(float[] verts, int v1, int v2, float t)
+        public static RcVec3f Lerp(Span<float> verts, int v1, int v2, float t)
         {
             return new RcVec3f(
                 verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t,
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 678c05a..20627b1 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -457,13 +457,13 @@ namespace DotRecast.Detour
             }
 
             // Collect vertices.
-            float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
-            float[] edged = new float[m_nav.GetMaxVertsPerPoly()];
-            float[] edget = new float[m_nav.GetMaxVertsPerPoly()];
+            Span<float> verts = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
+            Span<float> edged = stackalloc float[m_nav.GetMaxVertsPerPoly()];
+            Span<float> edget = stackalloc float[m_nav.GetMaxVertsPerPoly()];
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
+                RcSpans.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
             if (DtUtils.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
@@ -1822,7 +1822,7 @@ namespace DotRecast.Detour
             var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f);
             float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f);
 
-            float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            Span<float> verts = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
 
             const int MAX_NEIS = 8;
             Span<long> neis = stackalloc long[MAX_NEIS];
@@ -1842,7 +1842,7 @@ namespace DotRecast.Detour
                 int nverts = curPoly.vertCount;
                 for (int i = 0; i < nverts; ++i)
                 {
-                    RcArrays.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts, i * 3, 3);
+                    RcSpans.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts, i * 3, 3);
                 }
 
                 // If target is inside the poly, stop search.
@@ -2874,8 +2874,8 @@ namespace DotRecast.Detour
 
             float radiusSqr = RcMath.Sqr(radius);
 
-            float[] pa = new float[m_nav.GetMaxVertsPerPoly() * 3];
-            float[] pb = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            Span<float> pa = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
+            Span<float> pb = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
 
             while (0 < stack.Count)
             {
@@ -2946,7 +2946,7 @@ namespace DotRecast.Detour
                     int npa = neighbourPoly.vertCount;
                     for (int k = 0; k < npa; ++k)
                     {
-                        RcArrays.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa, k * 3, 3);
+                        RcSpans.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa, k * 3, 3);
                     }
 
                     bool overlap = false;
@@ -2977,7 +2977,7 @@ namespace DotRecast.Detour
                         int npb = pastPoly.vertCount;
                         for (int k = 0; k < npb; ++k)
                         {
-                            RcArrays.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
+                            RcSpans.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
                         }
 
                         if (DtUtils.OverlapPolyPoly2D(pa, npa, pb, npb))
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index b2cdc08..3cda106 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -97,7 +97,7 @@ namespace DotRecast.Detour
         /// @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(Span<float> polya, int npolya, Span<float> polyb, int npolyb)
         {
             const float eps = 1e-4f;
             for (int i = 0, j = npolya - 1; i < npolya; j = i++)
@@ -246,7 +246,7 @@ namespace DotRecast.Detour
             return false;
         }
 
-        public static RcVec2f ProjectPoly(RcVec3f axis, float[] poly, int npoly)
+        public static RcVec2f ProjectPoly(RcVec3f axis, Span<float> poly, int npoly)
         {
             float rmin, rmax;
             rmin = rmax = axis.Dot2D(poly, 0);
@@ -286,7 +286,7 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, float[] verts, int nverts, float[] ed, float[] et)
+        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, Span<float> verts, int nverts, Span<float> ed, Span<float> et)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
@@ -307,7 +307,7 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static float DistancePtSegSqr2D(RcVec3f pt, float[] verts, int p, int q, out float t)
+        public static float DistancePtSegSqr2D(RcVec3f pt, Span<float> verts, int p, int q, out float t)
         {
             var vp = RcVecUtils.Create(verts, p);
             var vq = RcVecUtils.Create(verts, q);

From bef346a8cb6a00126fb82a5c97dc6fa614aec159 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 3 May 2024 00:31:10 +0900
Subject: [PATCH 007/147] SOH

https://github.com/ikpil/DotRecast/issues/41
---
 src/DotRecast.Detour/DtNavMeshQuery.cs              | 2 +-
 src/DotRecast.Detour/DtUtils.cs                     | 2 +-
 src/DotRecast.Recast/RcFilledVolumeRasterization.cs | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 20627b1..427f3d3 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -2245,7 +2245,7 @@ namespace DotRecast.Detour
             hit.path.Clear();
             hit.pathCost = 0;
 
-            RcVec3f[] verts = new RcVec3f[m_nav.GetMaxVertsPerPoly() + 1];
+            Span<RcVec3f> verts = stackalloc RcVec3f[m_nav.GetMaxVertsPerPoly() + 1];
 
             RcVec3f curPos = RcVec3f.Zero;
             RcVec3f lastPos = RcVec3f.Zero;
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 3cda106..e5c2878 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -342,7 +342,7 @@ namespace DotRecast.Detour
         }
 
         public static bool IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1,
-            RcVec3f[] verts, int nverts,
+            Span<RcVec3f> verts, int nverts,
             out float tmin, out float tmax,
             out int segMin, out int segMax)
         {
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index ddc11ae..ad4cf09 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -296,8 +296,8 @@ namespace DotRecast.Recast
 
             if (axis.Y * axis.Y > EPSILON)
             {
-                RcVec3f[] rectangleOnStartPlane = new RcVec3f[4];
-                RcVec3f[] rectangleOnEndPlane = new RcVec3f[4];
+                Span<RcVec3f> rectangleOnStartPlane = stackalloc RcVec3f[4];
+                Span<RcVec3f> rectangleOnEndPlane = stackalloc RcVec3f[4];
                 float ds = RcVec3f.Dot(axis, start);
                 float de = RcVec3f.Dot(axis, end);
                 for (int i = 0; i < 4; i++)
@@ -326,7 +326,7 @@ namespace DotRecast.Recast
             return s;
         }
 
-        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, RcVec3f[] rectangleOnPlane)
+        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, Span<RcVec3f> rectangleOnPlane)
         {
             int j = (i + 1) % 4;
             // Ray against sphere intersection

From a5a101c0c28aa49bad122e304ba5f641c4f7f4dd Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 3 May 2024 22:00:51 +0900
Subject: [PATCH 008/147] SOH allocation issues

https://github.com/ikpil/DotRecast/issues/41
---
 src/DotRecast.Detour/DtNavMeshQuery.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 427f3d3..a7b72a8 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -41,9 +41,9 @@ namespace DotRecast.Detour
         public DtNavMeshQuery(DtNavMesh nav)
         {
             m_nav = nav;
-            m_tinyNodePool = new DtNodePool();
             m_nodePool = new DtNodePool();
             m_openList = new DtNodeQueue();
+            m_tinyNodePool = new DtNodePool();
         }
 
         /// Returns random location on navmesh.
@@ -386,7 +386,7 @@ namespace DotRecast.Detour
             float s = frand.Next();
             float t = frand.Next();
 
-            float[] areas = new float[randomPolyVerts.Length / 3];
+            Span<float> areas = stackalloc float[randomPolyVerts.Length / 3];
             RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
             ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
 

From 4acb0a163a782066207a711fd6c258c11766dcf2 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 3 May 2024 22:09:37 +0900
Subject: [PATCH 009/147] SOH for Gizmo

---
 src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
index 2b8cf87..a6f4083 100644
--- a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
@@ -65,7 +65,7 @@ public static class GizmoRenderer
         var trX = new RcVec3f(box.halfEdges[0].X, box.halfEdges[1].X, box.halfEdges[2].X);
         var trY = new RcVec3f(box.halfEdges[0].Y, box.halfEdges[1].Y, box.halfEdges[2].Y);
         var trZ = new RcVec3f(box.halfEdges[0].Z, box.halfEdges[1].Z, box.halfEdges[2].Z);
-        float[] vertices = new float[8 * 3];
+        Span<float> vertices = stackalloc float[8 * 3];
         for (int i = 0; i < 8; i++)
         {
             vertices[i * 3 + 0] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.X;

From 08c8db2d194d0373aa604052a97919133b8c8020 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 3 May 2024 22:44:04 +0900
Subject: [PATCH 010/147] SOH

---
 src/DotRecast.Recast.Demo/Draw/DebugDraw.cs |  4 +--
 src/DotRecast.Recast.Demo/Draw/GLU.cs       | 37 ++++++++++-----------
 2 files changed, 20 insertions(+), 21 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
index 875f17b..5374158 100644
--- a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
@@ -694,7 +694,7 @@ public class DebugDraw
         plane[3] = pw;
     }
 
-    public bool FrustumTest(float[] bounds)
+    public bool FrustumTest(Span<float> bounds)
     {
         foreach (float[] plane in frustumPlanes)
         {
@@ -748,6 +748,6 @@ public class DebugDraw
 
     public bool FrustumTest(RcVec3f bmin, RcVec3f bmax)
     {
-        return FrustumTest(new float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
+        return FrustumTest(stackalloc float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Demo/Draw/GLU.cs b/src/DotRecast.Recast.Demo/Draw/GLU.cs
index f14aa22..3868787 100644
--- a/src/DotRecast.Recast.Demo/Draw/GLU.cs
+++ b/src/DotRecast.Recast.Demo/Draw/GLU.cs
@@ -68,8 +68,8 @@ public static class GLU
     public static int GlhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref RcVec3f objectCoordinate)
     {
         // Transformation matrices
-        float[] m = new float[16], A = new float[16];
-        float[] @in = new float[4], @out = new float[4];
+        Span<float> m = stackalloc float[16], A = stackalloc float[16];
+        Span<float> @in = stackalloc float[4], @out = stackalloc float[4];
         // Calculation for inverting a matrix, compute projection x modelview
         // and store in A[16]
         MultiplyMatrices4by4OpenGL_FLOAT(A, projection, modelview);
@@ -92,7 +92,7 @@ public static class GLU
         return 1;
     }
 
-    static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2)
+    static void MultiplyMatrices4by4OpenGL_FLOAT(Span<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] + matrix1[12] * matrix2[7];
@@ -115,7 +115,7 @@ public static class GLU
         result[15] = matrix1[3] * matrix2[12] + matrix1[7] * matrix2[13] + matrix1[11] * matrix2[14] + matrix1[15] * matrix2[15];
     }
 
-    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector)
+    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(Span<float> resultvector, Span<float> matrix, Span<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] + matrix[13] * pvector[3];
@@ -124,15 +124,13 @@ public static class GLU
     }
 
     // This code comes directly from GLU except that it is for float
-    static int GlhInvertMatrixf2(float[] m, float[] @out)
+    static int GlhInvertMatrixf2(Span<float> m, Span<float> @out)
     {
-        float[][] wtmp = RcArrays.Of<float>(4, 8);
         float m0, m1, m2, m3, s;
-        float[] r0, r1, r2, r3;
-        r0 = wtmp[0];
-        r1 = wtmp[1];
-        r2 = wtmp[2];
-        r3 = wtmp[3];
+        Span<float> r0 = stackalloc float[8];
+        Span<float> r1 = stackalloc float[8];
+        Span<float> r2 = stackalloc float[8];
+        Span<float> r3 = stackalloc float[8];
         r0[0] = MAT(m, 0, 0);
         r0[1] = MAT(m, 0, 1);
         r0[2] = MAT(m, 0, 2);
@@ -160,27 +158,28 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[0]) > MathF.Abs(r2[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[0]) > MathF.Abs(r1[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
 
         if (MathF.Abs(r1[0]) > MathF.Abs(r0[0]))
         {
-            float[] r = r1;
+            Span<float> r = r1;
             r1 = r0;
             r0 = r;
         }
 
         if (0.0 == r0[0])
             return 0;
+        
         /* eliminate first variable */
         m1 = r1[0] / r0[0];
         m2 = r2[0] / r0[0];
@@ -232,14 +231,14 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[1]) > MathF.Abs(r2[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[1]) > MathF.Abs(r1[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
@@ -284,7 +283,7 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[2]) > MathF.Abs(r2[2]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
@@ -358,12 +357,12 @@ public static class GLU
         return 1;
     }
 
-    static float MAT(float[] m, int r, int c)
+    static float MAT(Span<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(Span<float> m, int r, int c, float v)
     {
         m[(c) * 4 + (r)] = v;
     }

From 3c4362376944c0e9ae192b7f3a2d5464a2b80ba5 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 4 May 2024 09:34:22 +0900
Subject: [PATCH 011/147] SOH in DrawPolyBoundaries

---
 src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index 62ff866..5ce784d 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -299,6 +299,7 @@ public class RecastDebugDraw : DebugDraw
 
         Begin(DebugDrawPrimitives.LINES, linew);
 
+        Span<RcVec3f> tv = stackalloc RcVec3f[3];
         for (int i = 0; i < tile.data.header.polyCount; ++i)
         {
             DtPoly p = tile.data.polys[i];
@@ -370,14 +371,14 @@ public class RecastDebugDraw : DebugDraw
                     for (int k = 0; k < pd.triCount; ++k)
                     {
                         int t = (pd.triBase + k) * 4;
-                        RcVec3f[] tv = new RcVec3f[3];
                         for (int m = 0; m < 3; ++m)
                         {
                             int v = tile.data.detailTris[t + m];
                             if (v < p.vertCount)
                             {
                                 tv[m] = new RcVec3f(
-                                    tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1],
+                                    tile.data.verts[p.verts[v] * 3],
+                                    tile.data.verts[p.verts[v] * 3 + 1],
                                     tile.data.verts[p.verts[v] * 3 + 2]
                                 );
                             }

From 5b9adf73e2cc6bd121431fe4a1c2b12cc31a5621 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 4 May 2024 10:02:16 +0900
Subject: [PATCH 012/147] release 2024.2.1

---
 CHANGELOG.md | 14 +++++++++++++-
 README.md    | 39 +++++++++++++++++----------------------
 2 files changed, 30 insertions(+), 23 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5d86e5b..03ce9d6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,12 +6,24 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased] - yyyy-mm-dd
 
+### Added
+### Fixed
+### Changed
+### Removed
+### Special Thanks
+
+
+## [2024.2.1] - 2024-05-04
+
 ### Added
 - Added RcCircularBuffer<T> [@ikpil](https://github.com/ikpil)
 - Added struct DtCrowdScopedTimer to avoid allocations in scoped timer calls. [@wrenge](https://github.com/wrenge)
 - Added struct RcScopedTimer to avoid allocations in RcContext scoped timer [@ikpil](https://github.com/ikpil)
- 
+- Added RcSpans [@ikpil](https://github.com/ikpil)
+- 
 ### Fixed
+- SOH issue [#14](https://github.com/ikpil/DotRecast/issues/41)
+- Optimization: reduce number of allocations on hot path. [@awgil](https://github.com/awgil)
 
 ### Changed
 - Changed DtPathCorridor.Init(int maxPath) function to allow setting the maximum path [@ikpil](https://github.com/ikpil)
diff --git a/README.md b/README.md
index 143e8dd..0b59cfc 100644
--- a/README.md
+++ b/README.md
@@ -1,28 +1,23 @@
-<h1 align="center">DotRecast</h1>
-<p align="center">
-<i>DotRecast is C# Recast & Detour, a port of <a href="https://github.com/recastnavigation/recastnavigation">recastnavigation</a> and <a href="https://github.com/ppiastucki/recast4j">recast4j</a> to the C# language.</i>
-</p>
-<p align="center">
-<i>If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.</i>
-</p>
+# DotRecast
+
+*DotRecast is C# Recast & Detour, a port of [recastnavigation](https://github.com/recastnavigation/recastnavigation) and [recast4j](https://github.com/ppiastucki/recast4j) to the C# language.*  
+*If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.*
 
 ---
 
-<p align="center">
-<img alt="![GitHub License]" src="https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge">
-<img alt="Languages" src="https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge">
-<img alt="GitHub repo size" src="https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge">
-<a href="https://github.com/ikpil/DotRecast"><img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL"></a>
-<a href="https://github.com/ikpil/DotRecast/commits"><img alt="GitHub commit activity" src="https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub issues" src="https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11"></a>
-<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub closed issues" src="https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7"></a>
-<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Version" src="https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
-<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Downloads" src="https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
-<a href="https://visitorbadge.io/status?path=ikpil%2FDotRecast"><img alt="Visitors" src="https://api.visitorbadge.io/api/daily?path=ikpil%2FDotRecast&countColor=%23263759"></a>
-<a href="https://github.com/sponsors/ikpil"><img alt="GitHub Sponsors" src="https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil"></a>
-</p>
+![GitHub License](https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge)
+![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge)
+![GitHub repo size](https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge)
+[![GitHub Repo stars](https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL)](https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml)
+[![GitHub commit activity](https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/commits)
+[![GitHub issues](https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11)](https://github.com/ikpil/DotRecast/issues)
+[![GitHub closed issues](https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7)](https://github.com/ikpil/DotRecast/issues)
+[![NuGet Version](https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![NuGet Downloads](https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![Visitors](https://api.visitorbadge.io/api/daily?path=ikpil%2FDotRecast&countColor=%23263759)](https://visitorbadge.io/status?path=ikpil%2FDotRecast)
+[![GitHub Sponsors](https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil)](https://github.com/sponsors/ikpil)
 
 ---
 

From 884789a934c3274314053f69f6fc564e4caea821 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 5 May 2024 13:11:12 +0900
Subject: [PATCH 013/147] added RcSpan unit test

---
 CHANGELOG.md                           |   5 +-
 src/DotRecast.Core/RcSpans.cs          |  26 +++--
 test/DotRecast.Core.Test/RcSpanTest.cs | 148 +++++++++++++++++++++++++
 3 files changed, 169 insertions(+), 10 deletions(-)
 create mode 100644 test/DotRecast.Core.Test/RcSpanTest.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 03ce9d6..608d9b1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,10 +7,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased] - yyyy-mm-dd
 
 ### Added
+- Added RcSpans UnitTest
+ 
 ### Fixed
 ### Changed
 ### Removed
 ### Special Thanks
+- [@Doprez](https://github.com/Doprez)
 
 
 ## [2024.2.1] - 2024-05-04
@@ -20,7 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Added struct DtCrowdScopedTimer to avoid allocations in scoped timer calls. [@wrenge](https://github.com/wrenge)
 - Added struct RcScopedTimer to avoid allocations in RcContext scoped timer [@ikpil](https://github.com/ikpil)
 - Added RcSpans [@ikpil](https://github.com/ikpil)
-- 
+ 
 ### Fixed
 - SOH issue [#14](https://github.com/ikpil/DotRecast/issues/41)
 - Optimization: reduce number of allocations on hot path. [@awgil](https://github.com/awgil)
diff --git a/src/DotRecast.Core/RcSpans.cs b/src/DotRecast.Core/RcSpans.cs
index 474f492..283defc 100644
--- a/src/DotRecast.Core/RcSpans.cs
+++ b/src/DotRecast.Core/RcSpans.cs
@@ -6,17 +6,25 @@ namespace DotRecast.Core
     public static class RcSpans
     {
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Copy<T>(Span<T> source, Span<T> destination)
+        public static void Copy<T>(Span<T> src, Span<T> dst)
         {
-            Copy(source, 0, destination, 0, source.Length);
-        }
-        
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Copy<T>(Span<T> source, int sourceIdx, Span<T> destination, int destinationIdx, int length)
-        {
-            var src = source.Slice(sourceIdx, length);
-            var dst = destination.Slice(destinationIdx);
             src.CopyTo(dst);
         }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(Span<T> src, int srcIdx, Span<T> dst, int dstIdx, int length)
+        {
+            var slicedSrc = src.Slice(srcIdx, length);
+            var slicedDst = dst.Slice(dstIdx);
+            slicedSrc.CopyTo(slicedDst);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Move<T>(Span<T> src, int srcIdx, int dstIdx, int length)
+        {
+            var slicedSrc = src.Slice(srcIdx, length);
+            var slicedDst = src.Slice(dstIdx, length);
+            slicedSrc.CopyTo(slicedDst);
+        }
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Core.Test/RcSpanTest.cs b/test/DotRecast.Core.Test/RcSpanTest.cs
new file mode 100644
index 0000000..268db7a
--- /dev/null
+++ b/test/DotRecast.Core.Test/RcSpanTest.cs
@@ -0,0 +1,148 @@
+using System;
+using System.Collections.Generic;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcSpanTest
+{
+    [Test]
+    public void TestCopy()
+    {
+        // Test for copying all elements to the destination span.
+        {
+            Span<long> src = stackalloc long[] { 1, 2, 3 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, dst);
+            Assert.That(src.ToArray(), Is.EqualTo(dst.ToArray()));
+        }
+
+        // Test for successful copying when the destination Span has a larger size.
+        {
+            Span<long> src = stackalloc long[] { 1, 2 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0, 0 };
+
+            RcSpans.Copy(src, dst);
+            Assert.That(src.ToArray(), Is.EqualTo(dst.Slice(0, src.Length).ToArray()));
+        }
+
+        // Test for an error when copying to a Span with a smaller size.
+        {
+            Assert.Throws<ArgumentException>(() =>
+            {
+                Span<long> src = stackalloc long[] { 1, 2, 3, 4, 5 };
+                Span<long> dst = stackalloc long[] { 0, 0, 0 };
+                RcSpans.Copy(src, dst);
+            });
+        }
+
+        // Test for copying a specific range of elements from the source span to a specific range in the destination span.
+        {
+            Span<long> src = stackalloc long[] { 1, 2, 3, 4, 5 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, 2, dst, 0, 2);
+            Assert.That(src.Slice(2, 2).ToArray(), Is.EqualTo(dst.Slice(0, 2).ToArray()));
+        }
+
+        // Test for copying a specific range of elements from the source span to a specific range in the destination span.
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, 2, dst, 0, 3);
+            Assert.That(src.Slice(2, 3).ToArray(), Is.EqualTo(dst.ToArray()));
+        }
+
+        // Test for src (index + length) over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 3, dst, 0, 3);
+        });
+
+        // Test for src (index + length) over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 5, dst, 0, 1);
+        });
+
+
+        // Test for dst (idx + length) over 
+        Assert.Throws<ArgumentException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 0, dst, 1, 3);
+        });
+
+        // Test for dst (idx + length) over 
+        Assert.Throws<ArgumentException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 0, dst, 0, 4);
+        });
+    }
+
+    [Test]
+    public void TestMove()
+    {
+        // [3, 2, 1] -> [3, 1, 1]
+        {
+            var expected = new List<long>() { 3, 1, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 2, 1, 1);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // [3, 2, 1] -> [2, 1, 1]
+        {
+            var expected = new List<long>() { 2, 1, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 1, 0, 2);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // [3, 2, 1] -> [3, 2, 1]
+        {
+            var expected = new List<long>() { 3, 2, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 0, 3);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // length over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 0, 4);
+        });
+        
+        // source index over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 3, 0, 1);
+        });
+        
+        // destination index over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 3, 1);
+        });
+    }
+}
\ No newline at end of file

From b165a3afed51ce3432c99767fbb16bf0aa4786cf Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Mon, 6 May 2024 14:34:46 +0900
Subject: [PATCH 014/147] SOH issue #41

- https://github.com/ikpil/DotRecast/issues/41
---
 src/DotRecast.Detour/DtPathUtils.cs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 7534f29..e5e2dcc 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -96,7 +96,9 @@ namespace DotRecast.Detour
             }
 
             // Get connected polygons
-            List<long> neis = new List<long>();
+            const int maxNeis = 16;
+            Span<long> neis = stackalloc long[maxNeis];
+            int nneis = 0;
 
             var status = navQuery.GetAttachedNavMesh().GetTileAndPolyByRef(path[0], out var tile, out var poly);
             if (status.Failed())
@@ -110,7 +112,8 @@ namespace DotRecast.Detour
                 DtLink link = tile.links[k];
                 if (link.refs != 0)
                 {
-                    neis.Add(link.refs);
+                    if (nneis < maxNeis)
+                        neis[nneis++] = link.refs;
                 }
             }
 
@@ -120,7 +123,7 @@ namespace DotRecast.Detour
             int cut = 0;
             for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--)
             {
-                for (int j = 0; j < neis.Count; j++)
+                for (int j = 0; j < nneis; j++)
                 {
                     if (path[i] == neis[j])
                     {

From 741200b5592043b67bd0cded92a0ddfd33e46a33 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Mon, 6 May 2024 14:37:43 +0900
Subject: [PATCH 015/147] added int npath param in FixupShortcuts()

---
 src/DotRecast.Detour/DtPathUtils.cs                     | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index e5e2dcc..f1c37ae 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -88,7 +88,7 @@ namespace DotRecast.Detour
         // +-S-+-T-+
         // |:::| | <-- the step can end up in here, resulting U-turn path.
         // +---+---+
-        public static List<long> FixupShortcuts(List<long> path, DtNavMeshQuery navQuery)
+        public static List<long> FixupShortcuts(List<long> path, int npath, DtNavMeshQuery navQuery)
         {
             if (path.Count < 3)
             {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index a9c9b62..1c77eea 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -93,7 +93,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 iterPos = result;
 
                 pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
-                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
+                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, pathIterPolys.Count, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())

From fc673b2c25d19bfe8526d0636296e8c6ac3377c0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Mon, 6 May 2024 15:45:24 +0900
Subject: [PATCH 016/147] test2

---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  | 23 +++++---
 src/DotRecast.Detour/DtPathUtils.cs           | 53 +++++++++++--------
 .../Tools/TestNavmeshSampleTool.cs            |  2 +-
 .../Tools/RcTestNavMeshTool.cs                | 26 +++++----
 4 files changed, 65 insertions(+), 39 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 2e1d00c..c4be0a6 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -34,6 +34,7 @@ namespace DotRecast.Detour.Crowd
         private RcVec3f m_target;
 
         private List<long> m_path;
+        private int m_npath;
         private int m_maxPath;
 
         /**
@@ -88,7 +89,8 @@ namespace DotRecast.Detour.Crowd
         /// @return True if the initialization succeeded.
         public bool Init(int maxPath)
         {
-            m_path = new List<long>();
+            m_path = new List<long>(maxPath);
+            m_npath = 0;
             m_maxPath = maxPath;
             return true;
         }
@@ -107,6 +109,7 @@ namespace DotRecast.Detour.Crowd
             m_target = pos;
             m_path.Clear();
             m_path.Add(refs);
+            m_npath = 1;
         }
 
         /**
@@ -215,7 +218,7 @@ namespace DotRecast.Detour.Crowd
             {
                 if (res.Count > 1 && t > 0.99f)
                 {
-                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
+                    m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res);
                 }
             }
         }
@@ -247,7 +250,7 @@ namespace DotRecast.Detour.Crowd
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
+                m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res);
                 return true;
             }
 
@@ -274,6 +277,8 @@ namespace DotRecast.Detour.Crowd
 
             // Prune path
             m_path = m_path.GetRange(npos, m_path.Count - npos);
+            m_npath -= npos;
+
             refs[0] = prevRef;
             refs[1] = polyRef;
 
@@ -316,7 +321,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -358,7 +363,8 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, m_path.Count, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited);
+
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*
@@ -386,6 +392,7 @@ namespace DotRecast.Detour.Crowd
         {
             m_target = target;
             m_path = new List<long>(path);
+            m_npath = path.Count;
         }
 
         public void FixPathStart(long safeRef, RcVec3f safePos)
@@ -393,17 +400,19 @@ namespace DotRecast.Detour.Crowd
             m_pos = safePos;
             if (m_path.Count < 3 && m_path.Count > 0)
             {
-                long p = m_path[m_path.Count - 1];
+                long p = m_path[m_npath - 1];
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
                 m_path.Add(p);
+                m_npath = 3;
             }
             else
             {
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
+                m_npath = 2;
             }
         }
 
@@ -427,11 +436,13 @@ namespace DotRecast.Detour.Crowd
                 m_pos = RcVecUtils.Create(safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
+                m_npath = 1;
             }
             else if (n < m_path.Count)
             {
                 // The path is partially usable.
                 m_path = m_path.GetRange(0, n);
+                m_npath = n;
             }
 
             // Clamp target pos to last poly
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index f1c37ae..998754a 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
@@ -88,11 +89,11 @@ namespace DotRecast.Detour
         // +-S-+-T-+
         // |:::| | <-- the step can end up in here, resulting U-turn path.
         // +---+---+
-        public static List<long> FixupShortcuts(List<long> path, int npath, DtNavMeshQuery navQuery)
+        public static int FixupShortcuts(ref List<long> path, int npath, DtNavMeshQuery navQuery)
         {
-            if (path.Count < 3)
+            if (npath < 3)
             {
-                return path;
+                return npath;
             }
 
             // Get connected polygons
@@ -103,7 +104,7 @@ namespace DotRecast.Detour
             var status = navQuery.GetAttachedNavMesh().GetTileAndPolyByRef(path[0], out var tile, out var poly);
             if (status.Failed())
             {
-                return path;
+                return npath;
             }
 
 
@@ -121,7 +122,7 @@ namespace DotRecast.Detour
             // in the path, short cut to that polygon directly.
             const 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, npath) - 1; i > 1 && cut == 0; i--)
             {
                 for (int j = 0; j < nneis; j++)
                 {
@@ -137,20 +138,22 @@ namespace DotRecast.Detour
             {
                 List<long> shortcut = new List<long>();
                 shortcut.Add(path[0]);
-                shortcut.AddRange(path.GetRange(cut, path.Count - cut));
-                return shortcut;
+                shortcut.AddRange(path.GetRange(cut, npath - cut));
+
+                path = shortcut;
+                return shortcut.Count;
             }
 
-            return path;
+            return npath;
         }
 
-        public static List<long> MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, 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 = npath - 1; i >= 0; --i)
             {
                 bool found = false;
                 for (int j = visited.Count - 1; j >= 0; --j)
@@ -172,7 +175,7 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
@@ -185,17 +188,19 @@ namespace DotRecast.Detour
                 result.Add(visited[i]);
             }
 
-            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
-            return result;
+            result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
+
+            path = result;
+            return result.Count;
         }
 
-        public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, 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 < npath; ++i)
             {
                 bool found = false;
                 for (int j = visited.Count - 1; j >= 0; --j)
@@ -217,22 +222,24 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
             List<long> result = path.GetRange(0, furthestPath);
             result.AddRange(visited.GetRange(furthestVisited, visited.Count - furthestVisited));
-            return result;
+
+            path = result;
+            return result.Count;
         }
 
-        public static List<long> MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartShortcut(ref List<long> path, int npath, int maxPath, 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 = npath - 1; i >= 0; --i)
             {
                 bool found = false;
                 for (int j = visited.Count - 1; j >= 0; --j)
@@ -254,15 +261,17 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited <= 0)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
 
             // Adjust beginning of the buffer to include the visited.
             List<long> result = visited.GetRange(0, furthestVisited);
-            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
-            return result;
+            result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
+
+            path = result;
+            return result.Count;
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
index b9552dd..d692d46 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
@@ -661,7 +661,7 @@ public class TestNavmeshSampleTool : ISampleTool
         if (_mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
         {
             _tool.FindFollowPath(navMesh, navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_smoothPath);
+                ref m_polys, m_polys?.Count ?? 0, ref m_smoothPath);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
         {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 1c77eea..11cbbf1 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -22,7 +22,7 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> pathIterPolys, ref List<RcVec3f> smoothPath)
+            ref List<long> pathIterPolys, int pathIterPolyCount, ref List<RcVec3f> smoothPath)
         {
             if (startRef == 0 || endRef == 0)
             {
@@ -36,27 +36,32 @@ namespace DotRecast.Recast.Toolset.Tools
             smoothPath ??= new List<RcVec3f>();
 
             pathIterPolys.Clear();
+            pathIterPolyCount = 0;
+            
             smoothPath.Clear();
 
             var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
             navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref pathIterPolys, opt);
             if (0 >= pathIterPolys.Count)
                 return DtStatus.DT_FAILURE;
-
+            
+            pathIterPolyCount = pathIterPolys.Count;
+            
             // Iterate over the path to find smooth path on the detail mesh surface.
             navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
             navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
 
-            float STEP_SIZE = 0.5f;
-            float SLOP = 0.01f;
+            const float STEP_SIZE = 0.5f;
+            const float SLOP = 0.01f;
 
             smoothPath.Clear();
             smoothPath.Add(iterPos);
             var visited = new List<long>();
+            
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
-            while (0 < pathIterPolys.Count && smoothPath.Count < MAX_SMOOTH)
+            while (0 < pathIterPolyCount && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
@@ -64,7 +69,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 {
                     break;
                 }
-
+                
                 bool endOfPath = (steerPosFlag & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0
                     ? true
                     : false;
@@ -84,7 +89,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 {
                     len = STEP_SIZE / len;
                 }
-
+                
                 RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
 
                 // Move
@@ -92,8 +97,8 @@ namespace DotRecast.Recast.Toolset.Tools
 
                 iterPos = result;
 
-                pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
-                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, pathIterPolys.Count, navQuery);
+                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited);
+                pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())
@@ -123,7 +128,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     long prevRef = 0;
                     long polyRef = pathIterPolys[0];
                     int npos = 0;
-                    while (npos < pathIterPolys.Count && polyRef != steerPosRef)
+                    while (npos < pathIterPolyCount && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
                         polyRef = pathIterPolys[npos];
@@ -131,6 +136,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
 
                     pathIterPolys = pathIterPolys.GetRange(npos, pathIterPolys.Count - npos);
+                    pathIterPolyCount -= npos;
 
                     // Handle the connection.
                     var status2 = navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);

From 19e358bdfc2d0dc7410ff278a7921725132e7c83 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 7 May 2024 23:56:15 +0900
Subject: [PATCH 017/147] m_npath instead of m_path.Count

---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs | 26 ++++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index c4be0a6..e7d56e8 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -238,7 +238,7 @@ namespace DotRecast.Detour.Crowd
         ///  @param[in]		filter		The filter to apply to the operation.	
         public bool OptimizePathTopology(DtNavMeshQuery navquery, IDtQueryFilter filter, int maxIterations)
         {
-            if (m_path.Count < 3)
+            if (m_npath < 3)
             {
                 return false;
             }
@@ -262,21 +262,21 @@ namespace DotRecast.Detour.Crowd
             // 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_npath && polyRef != offMeshConRef)
             {
                 prevRef = polyRef;
                 polyRef = m_path[npos];
                 npos++;
             }
 
-            if (npos == m_path.Count)
+            if (npos == m_npath)
             {
                 // Could not find offMeshConRef
                 return false;
             }
 
             // Prune path
-            m_path = m_path.GetRange(npos, m_path.Count - npos);
+            m_path = m_path.GetRange(npos, m_npath - npos);
             m_npath -= npos;
 
             refs[0] = prevRef;
@@ -398,7 +398,7 @@ namespace DotRecast.Detour.Crowd
         public void FixPathStart(long safeRef, RcVec3f safePos)
         {
             m_pos = safePos;
-            if (m_path.Count < 3 && m_path.Count > 0)
+            if (m_npath < 3 && m_npath > 0)
             {
                 long p = m_path[m_npath - 1];
                 m_path.Clear();
@@ -420,12 +420,12 @@ namespace DotRecast.Detour.Crowd
         {
             // Keep valid path as far as possible.
             int n = 0;
-            while (n < m_path.Count && navquery.IsValidPolyRef(m_path[n], filter))
+            while (n < m_npath && navquery.IsValidPolyRef(m_path[n], filter))
             {
                 n++;
             }
 
-            if (m_path.Count == n)
+            if (m_npath == n)
             {
                 // All valid, no need to fix.
                 return true;
@@ -438,7 +438,7 @@ namespace DotRecast.Detour.Crowd
                 m_path.Add(safeRef);
                 m_npath = 1;
             }
-            else if (n < m_path.Count)
+            else if (n < m_npath)
             {
                 // The path is partially usable.
                 m_path = m_path.GetRange(0, n);
@@ -446,7 +446,7 @@ namespace DotRecast.Detour.Crowd
             }
 
             // Clamp target pos to last poly
-            navquery.ClosestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target, out m_target);
+            navquery.ClosestPointOnPolyBoundary(m_path[m_npath - 1], m_target, out m_target);
             return true;
         }
 
@@ -462,7 +462,7 @@ namespace DotRecast.Detour.Crowd
         public bool IsValid(int maxLookAhead, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Check that all polygons still pass query filter.
-            int n = Math.Min(m_path.Count, maxLookAhead);
+            int n = Math.Min(m_npath, maxLookAhead);
             for (int i = 0; i < n; ++i)
             {
                 if (!navquery.IsValidPolyRef(m_path[i], filter))
@@ -492,14 +492,14 @@ namespace DotRecast.Detour.Crowd
         /// @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
         public long GetFirstPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[0];
+            return 0 == m_npath ? 0 : m_path[0];
         }
 
         /// The polygon reference id of the last polygon in the corridor, the polygon containing the target.
         /// @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
         public long GetLastPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
+            return 0 == m_npath ? 0 : m_path[m_npath - 1];
         }
 
         /// The corridor's path.
@@ -513,7 +513,7 @@ namespace DotRecast.Detour.Crowd
         /// @return The number of polygons in the current corridor path.
         public int GetPathCount()
         {
-            return m_path.Count;
+            return m_npath;
         }
     }
 }
\ No newline at end of file

From cfdcc1336c42a72d9483792b45ddeb7dba5af305 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 8 May 2024 00:25:32 +0900
Subject: [PATCH 018/147] preparatory work to resolve the SOH issue during path
 merging.

---
 src/DotRecast.Detour.Crowd/DtCrowd.cs         |  2 +-
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  |  4 +--
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 34 ++++++++++---------
 src/DotRecast.Detour/DtPathUtils.cs           |  4 +--
 .../Tools/RcTestNavMeshTool.cs                |  6 ++--
 .../PathCorridorTest.cs                       |  6 ++--
 test/DotRecast.Detour.Test/FindPathTest.cs    |  2 +-
 .../TileCacheFindPathTest.cs                  |  2 +-
 8 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 892c4b3..2bbb1c1 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -589,7 +589,7 @@ namespace DotRecast.Detour.Crowd
                     if (ag.targetReplan) // && npath > 10)
                     {
                         // Try to use existing steady path during replan if possible.
-                        status = _navQuery.FinalizeSlicedFindPathPartial(path, ref reqPath);
+                        status = _navQuery.FinalizeSlicedFindPathPartial(path, path.Count, ref reqPath);
                     }
                     else
                     {
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index e7d56e8..67f9d27 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -137,7 +137,7 @@ namespace DotRecast.Detour.Crowd
         {
             const float MIN_TARGET_DIST = 0.01f;
 
-            var result = navquery.FindStraightPath(m_pos, m_target, m_path, ref corners, maxCorners, 0);
+            var result = navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, ref corners, maxCorners, 0);
             if (result.Succeeded())
             {
                 // Prune points in the beginning of the path which are too close.
@@ -246,7 +246,7 @@ namespace DotRecast.Detour.Crowd
             var res = new List<long>();
             navquery.InitSlicedFindPath(m_path[0], m_path[^1], m_pos, m_target, filter, 0);
             navquery.UpdateSlicedFindPath(maxIterations, out var _);
-            var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
+            var status = navquery.FinalizeSlicedFindPathPartial(m_path, m_npath, ref res);
 
             if (status.Succeeded() && res.Count > 0)
             {
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index a7b72a8..b3a6ab0 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -1363,19 +1363,21 @@ namespace DotRecast.Detour
 
         /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
         /// polygon on the existing path that was visited during the search.
-        /// @param[in] existing An array of polygon references for the existing path.
-        /// @param[in] existingSize The number of polygon in the @p existing array.
-        /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
-        /// [(polyRef) * @p pathCount]
+        ///  @param[in]		existing		An array of polygon references for the existing path.
+        ///  @param[in]		existingSize	The number of polygon in the @p existing array.
+        ///  @param[out]	path			An ordered list of polygon references representing the path. (Start to end.) 
+        ///  								[(polyRef) * @p pathCount]
+        ///  @param[out]	pathCount		The number of polygons returned in the @p path array.
+        ///  @param[in]		maxPath			The max number of polygons the @p path array can hold. [Limit: >= 1]
         /// @returns The status flags for the query.
-        public virtual DtStatus FinalizeSlicedFindPathPartial(List<long> existing, ref List<long> path)
+        public virtual DtStatus FinalizeSlicedFindPathPartial(List<long> existing, int existingSize, ref List<long> path)
         {
             if (null == path)
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
 
             path.Clear();
 
-            if (null == existing || existing.Count <= 0)
+            if (null == existing || existingSize <= 0)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
@@ -1396,7 +1398,7 @@ namespace DotRecast.Detour
             {
                 // Find furthest existing node that was visited.
                 DtNode node = null;
-                for (int i = existing.Count - 1; i >= 0; --i)
+                for (int i = existingSize - 1; i >= 0; --i)
                 {
                     node = m_nodePool.FindNode(existing[i]);
                     if (node != null)
@@ -1527,12 +1529,12 @@ namespace DotRecast.Detour
         ///  @param[in]		maxStraightPath		The maximum number of points the straight path arrays can hold.  [Limit: > 0]
         ///  @param[in]		options				Query options. (see: #dtStraightPathOptions)
         /// @returns The status flags for the query.
-        public virtual DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos, List<long> path,
+        public virtual DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
             ref List<DtStraightPath> straightPath,
             int maxStraightPath, int options)
         {
             if (!startPos.IsFinite() || !endPos.IsFinite() || null == straightPath
-                || null == path || 0 == path.Count || path[0] == 0 || maxStraightPath <= 0)
+                || null == path || pathSize <= 0 || path[0] == 0 || maxStraightPath <= 0)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
@@ -1546,7 +1548,7 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            var closestEndPosRes = ClosestPointOnPolyBoundary(path[path.Count - 1], endPos, out var closestEndPos);
+            var closestEndPosRes = ClosestPointOnPolyBoundary(path[pathSize - 1], endPos, out var closestEndPos);
             if (closestEndPosRes.Failed())
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
@@ -1559,7 +1561,7 @@ namespace DotRecast.Detour
                 return stat;
             }
 
-            if (path.Count > 1)
+            if (pathSize > 1)
             {
                 RcVec3f portalApex = closestStartPos;
                 RcVec3f portalLeft = portalApex;
@@ -1574,13 +1576,13 @@ namespace DotRecast.Detour
                 long leftPolyRef = path[0];
                 long rightPolyRef = path[0];
 
-                for (int i = 0; i < path.Count; ++i)
+                for (int i = 0; i < pathSize; ++i)
                 {
                     RcVec3f left;
                     RcVec3f right;
                     int toType;
 
-                    if (i + 1 < path.Count)
+                    if (i + 1 < pathSize)
                     {
                         int fromType; // // fromType is ignored.
 
@@ -1633,7 +1635,7 @@ namespace DotRecast.Detour
                         if (DtUtils.VEqual(portalApex, portalRight) || DtUtils.TriArea2D(portalApex, portalLeft, right) > 0.0f)
                         {
                             portalRight = right;
-                            rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
+                            rightPolyRef = (i + 1 < pathSize) ? path[i + 1] : 0;
                             rightPolyType = toType;
                             rightIndex = i;
                         }
@@ -1689,7 +1691,7 @@ namespace DotRecast.Detour
                         if (DtUtils.VEqual(portalApex, portalLeft) || DtUtils.TriArea2D(portalApex, portalRight, left) < 0.0f)
                         {
                             portalLeft = left;
-                            leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
+                            leftPolyRef = (i + 1 < pathSize) ? path[i + 1] : 0;
                             leftPolyType = toType;
                             leftIndex = i;
                         }
@@ -1743,7 +1745,7 @@ namespace DotRecast.Detour
                 // Append portals along the current straight path segment.
                 if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                 {
-                    stat = AppendPortals(apexIndex, path.Count - 1, closestEndPos, path, ref straightPath, maxStraightPath, options);
+                    stat = AppendPortals(apexIndex, pathSize - 1, closestEndPos, path, ref straightPath, maxStraightPath, options);
                     if (!stat.InProgress())
                     {
                         return stat;
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 998754a..72d7043 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -31,7 +31,7 @@ namespace DotRecast.Detour
 
         public static bool GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos,
             float minTargetDist,
-            List<long> path,
+            List<long> path, int pathSize,
             out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef)
         {
             steerPos = RcVec3f.Zero;
@@ -40,7 +40,7 @@ namespace DotRecast.Detour
 
             // Find steer target.
             var straightPath = new List<DtStraightPath>(MAX_STEER_POINTS);
-            var result = navQuery.FindStraightPath(startPos, endPos, path, ref straightPath, MAX_STEER_POINTS, 0);
+            var result = navQuery.FindStraightPath(startPos, endPos, path, pathSize, ref straightPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
                 return false;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 11cbbf1..197d6a5 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -65,7 +65,7 @@ namespace DotRecast.Recast.Toolset.Tools
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
-                        pathIterPolys, out var steerPos, out var steerPosFlag, out var steerPosRef))
+                        pathIterPolys, pathIterPolyCount, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
@@ -200,7 +200,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            navQuery.FindStraightPath(startPt, epos, polys, ref straightPath, MAX_POLYS, straightPathOptions);
+            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, ref straightPath, MAX_POLYS, straightPathOptions);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -245,7 +245,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
 
                 straightPath = new List<DtStraightPath>(MAX_POLYS);
-                navQuery.FindStraightPath(startPos, epos, path, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
+                navQuery.FindStraightPath(startPos, epos, path, path.Count, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
             }
 
             return DtStatus.DT_SUCCESS;
diff --git a/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs b/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
index fdc10c1..3cb9169 100644
--- a/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
@@ -51,11 +51,12 @@ public class PathCorridorTest
                 It.IsAny<RcVec3f>(),
                 It.IsAny<RcVec3f>(),
                 It.IsAny<List<long>>(),
+                It.IsAny<int>(),
                 ref It.Ref<List<DtStraightPath>>.IsAny,
                 It.IsAny<int>(),
                 It.IsAny<int>())
             )
-            .Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
+            .Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
                 ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
             {
                 refStraightPath = straightPath;
@@ -83,10 +84,11 @@ public class PathCorridorTest
                 It.IsAny<RcVec3f>(),
                 It.IsAny<RcVec3f>(),
                 It.IsAny<List<long>>(),
+                It.IsAny<int>(),
                 ref It.Ref<List<DtStraightPath>>.IsAny,
                 It.IsAny<int>(),
                 It.IsAny<int>())
-            ).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
+            ).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
                 ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
             {
                 refStraightPath = straightPath;
diff --git a/test/DotRecast.Detour.Test/FindPathTest.cs b/test/DotRecast.Detour.Test/FindPathTest.cs
index 4ce825a..32ad91a 100644
--- a/test/DotRecast.Detour.Test/FindPathTest.cs
+++ b/test/DotRecast.Detour.Test/FindPathTest.cs
@@ -193,7 +193,7 @@ public class FindPathTest : AbstractDetourTest
             var endPos = endPoss[i];
             var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
             var straightPath = new List<DtStraightPath>();
-            query.FindStraightPath(startPos, endPos, path, ref straightPath, int.MaxValue, 0);
+            query.FindStraightPath(startPos, endPos, path, path.Count, ref straightPath, int.MaxValue, 0);
             Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
             for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
             {
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
index f1735bd..2139074 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
@@ -60,7 +60,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
         int options = 0;
 
         var pathStr = new List<DtStraightPath>();
-        query.FindStraightPath(startPos, endPos, path, ref pathStr, maxStraightPath, options);
+        query.FindStraightPath(startPos, endPos, path, path.Count, ref pathStr, maxStraightPath, options);
         Assert.That(pathStr.Count, Is.EqualTo(8));
     }
 }
\ No newline at end of file

From deb02778cc302a07c8ba91ad73b8f4e0cd7fb258 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 8 May 2024 23:50:12 +0900
Subject: [PATCH 019/147] rename corridor test

---
 .../{PathCorridorTest.cs => DtPathCorridorTest.cs}              | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename test/DotRecast.Detour.Crowd.Test/{PathCorridorTest.cs => DtPathCorridorTest.cs} (99%)

diff --git a/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
similarity index 99%
rename from test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
rename to test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
index 3cb9169..c77eb28 100644
--- a/test/DotRecast.Detour.Crowd.Test/PathCorridorTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
@@ -26,7 +26,7 @@ using NUnit.Framework;
 namespace DotRecast.Detour.Crowd.Test;
 
 
-public class PathCorridorTest
+public class DtPathCorridorTest
 {
     private readonly DtPathCorridor corridor = new DtPathCorridor();
     private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();

From 59849e1dacb6c40746bf2d8fe81a79bc9527704f Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 9 May 2024 00:00:53 +0900
Subject: [PATCH 020/147] add `int nvisited` in DtPathUtils.functions

---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs    |  8 ++++----
 src/DotRecast.Detour/DtPathUtils.cs             | 17 ++++++++---------
 .../Tools/RcTestNavMeshTool.cs                  |  2 +-
 3 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 67f9d27..f2e9700 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -218,7 +218,7 @@ namespace DotRecast.Detour.Crowd
             {
                 if (res.Count > 1 && t > 0.99f)
                 {
-                    m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res);
+                    m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
                 }
             }
         }
@@ -250,7 +250,7 @@ namespace DotRecast.Detour.Crowd
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res);
+                m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
                 return true;
             }
 
@@ -321,7 +321,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -363,7 +363,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
 
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 72d7043..9fb31a2 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -20,7 +20,6 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Linq;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
@@ -147,7 +146,7 @@ namespace DotRecast.Detour
             return npath;
         }
 
-        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -156,7 +155,7 @@ namespace DotRecast.Detour
             for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -183,7 +182,7 @@ namespace DotRecast.Detour
             // 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 = nvisited - 1; i > furthestVisited; --i)
             {
                 result.Add(visited[i]);
             }
@@ -194,7 +193,7 @@ namespace DotRecast.Detour
             return result.Count;
         }
 
-        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -203,7 +202,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < npath; ++i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -227,13 +226,13 @@ namespace DotRecast.Detour
 
             // Concatenate paths.
             List<long> result = path.GetRange(0, furthestPath);
-            result.AddRange(visited.GetRange(furthestVisited, visited.Count - furthestVisited));
+            result.AddRange(visited.GetRange(furthestVisited, nvisited - furthestVisited));
 
             path = result;
             return result.Count;
         }
 
-        public static int MergeCorridorStartShortcut(ref List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartShortcut(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -242,7 +241,7 @@ namespace DotRecast.Detour
             for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 197d6a5..0b226fe 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -97,7 +97,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                 iterPos = result;
 
-                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited);
+                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, visited.Count);
                 pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);

From e926c231955825910e19467267411cb41b00d9d8 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 9 May 2024 00:34:22 +0900
Subject: [PATCH 021/147] SOH #41

---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  | 15 ++++++++------
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 19 +++++++++++++-----
 src/DotRecast.Detour/DtPathUtils.cs           |  9 ++++++---
 .../Tools/RcTestNavMeshTool.cs                | 20 ++++++++++---------
 .../MoveAlongSurfaceTest.cs                   |  9 +++++----
 5 files changed, 45 insertions(+), 27 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index f2e9700..76020ba 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -317,11 +317,12 @@ namespace DotRecast.Detour.Crowd
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
+                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -359,11 +360,13 @@ namespace DotRecast.Detour.Crowd
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            int nvisited = 0;
+            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
+                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
 
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index b3a6ab0..55dad90 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -1790,12 +1790,11 @@ namespace DotRecast.Detour
         /// @returns The status flags for the query.
         public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos,
             IDtQueryFilter filter,
-            out RcVec3f resultPos, ref List<long> visited)
+            out RcVec3f resultPos, Span<long> visited, out int visitedCount, int maxVisitedSize)
         {
             resultPos = RcVec3f.Zero;
 
-            if (null != visited)
-                visited.Clear();
+            visitedCount = 0;
 
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite()
@@ -1804,6 +1803,8 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
+            DtStatus status = DtStatus.DT_SUCCESS;
+
             m_tinyNodePool.Clear();
 
             DtNode startNode = m_tinyNodePool.GetNode(startRef);
@@ -1938,6 +1939,7 @@ namespace DotRecast.Detour
                 }
             }
 
+            int n = 0;
             if (bestNode != null)
             {
                 // Reverse the path.
@@ -1955,14 +1957,21 @@ namespace DotRecast.Detour
                 node = prev;
                 do
                 {
-                    visited.Add(node.id);
+                    visited[n++] = node.id;
+                    if (n >= maxVisitedSize)
+                    {
+                        status |= DtStatus.DT_BUFFER_TOO_SMALL;;
+                        break;
+                    }
+
                     node = m_tinyNodePool.GetNodeAtIdx(node.pidx);
                 } while (node != null);
             }
 
             resultPos = bestPos;
+            visitedCount = n;
 
-            return DtStatus.DT_SUCCESS;
+            return status;
         }
 
         protected DtStatus GetPortalPoints(long from, long to, out RcVec3f left, out RcVec3f right, out int fromType, out int toType)
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 9fb31a2..fea9700 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -146,7 +146,7 @@ namespace DotRecast.Detour
             return npath;
         }
 
-        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
+        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -193,7 +193,7 @@ namespace DotRecast.Detour
             return result.Count;
         }
 
-        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
+        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -226,7 +226,10 @@ namespace DotRecast.Detour
 
             // Concatenate paths.
             List<long> result = path.GetRange(0, furthestPath);
-            result.AddRange(visited.GetRange(furthestVisited, nvisited - furthestVisited));
+            foreach (var v in visited.Slice(furthestVisited, nvisited - furthestVisited))
+            {
+                result.Add(v);
+            }
 
             path = result;
             return result.Count;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 0b226fe..ef8b369 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -37,16 +37,16 @@ namespace DotRecast.Recast.Toolset.Tools
 
             pathIterPolys.Clear();
             pathIterPolyCount = 0;
-            
+
             smoothPath.Clear();
 
             var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
             navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref pathIterPolys, opt);
             if (0 >= pathIterPolys.Count)
                 return DtStatus.DT_FAILURE;
-            
+
             pathIterPolyCount = pathIterPolys.Count;
-            
+
             // Iterate over the path to find smooth path on the detail mesh surface.
             navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
             navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
@@ -56,8 +56,10 @@ namespace DotRecast.Recast.Toolset.Tools
 
             smoothPath.Clear();
             smoothPath.Add(iterPos);
-            var visited = new List<long>();
-            
+
+            Span<long> visited = stackalloc long[16];
+            int nvisited = 0;
+
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
@@ -69,7 +71,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 {
                     break;
                 }
-                
+
                 bool endOfPath = (steerPosFlag & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0
                     ? true
                     : false;
@@ -89,15 +91,15 @@ namespace DotRecast.Recast.Toolset.Tools
                 {
                     len = STEP_SIZE / len;
                 }
-                
+
                 RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, ref visited);
+                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
 
                 iterPos = result;
 
-                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, visited.Count);
+                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
                 pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
diff --git a/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
index 4a84028..26179a1 100644
--- a/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
+++ b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
@@ -16,13 +16,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class MoveAlongSurfaceTest : AbstractDetourTest
 {
     private static readonly long[][] VISITED =
@@ -69,20 +69,21 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
     public void TestMoveAlongSurface()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        var visited = new List<long>();
+        const int MAX_VISITED = 32;
+        Span<long> visited = stackalloc long[MAX_VISITED];
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
             RcVec3f startPos = startPoss[i];
             RcVec3f endPos = endPoss[i];
-            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
+            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             Assert.That(status.Succeeded(), Is.True);
 
             Assert.That(result.X, Is.EqualTo(POSITION[i].X).Within(0.01f));
             Assert.That(result.Y, Is.EqualTo(POSITION[i].Y).Within(0.01f));
             Assert.That(result.Z, Is.EqualTo(POSITION[i].Z).Within(0.01f));
 
-            Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
+            Assert.That(nvisited, Is.EqualTo(VISITED[i].Length));
             for (int j = 0; j < 3; j++)
             {
                 Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));

From 1bf0a884929ada44db40e43a52f5bf8e67c9d6bd Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 11 May 2024 23:58:01 +0900
Subject: [PATCH 022/147] update comment in DtPoly class

---
 src/DotRecast.Detour/DtPoly.cs | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/DotRecast.Detour/DtPoly.cs b/src/DotRecast.Detour/DtPoly.cs
index 0ef2a77..c60039d 100644
--- a/src/DotRecast.Detour/DtPoly.cs
+++ b/src/DotRecast.Detour/DtPoly.cs
@@ -20,21 +20,24 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines a polygon within a MeshTile object. */
+    /// Defines a polygon within a dtMeshTile object.
+    /// @ingroup detour
     public class DtPoly
     {
+        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
         public readonly int index;
 
-        /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */
+        /// The indices of the polygon's vertices.
+        /// The actual vertices are located in dtMeshTile::verts.
         public readonly int[] verts;
 
-        /** Packed data representing neighbor polygons references and flags for each edge. */
+        /// Packed data representing neighbor polygons references and flags for each edge.
         public readonly int[] neis;
 
-        /** The user defined polygon flags. */
+        /// The user defined polygon flags.
         public int flags;
 
-        /** The number of vertices in the polygon. */
+        /// The number of vertices in the polygon.
         public int vertCount;
 
         /// The bit packed area id and polygon type.
@@ -48,25 +51,25 @@ namespace DotRecast.Detour
             neis = new int[maxVertsPerPoly];
         }
 
-        /** Sets the user defined area id. [Limit: &lt; {@link org.recast4j.detour.NavMesh#DT_MAX_AREAS}] */
+        /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
         public void SetArea(int a)
         {
             areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f);
         }
 
-        /** Sets the polygon type. (See: #dtPolyTypes.) */
+        /// Sets the polygon type. (See: #dtPolyTypes.)
         public void SetPolyType(int t)
         {
             areaAndtype = (areaAndtype & 0x3f) | (t << 6);
         }
 
-        /** Gets the user defined area id. */
+        /// Gets the user defined area id.
         public int GetArea()
         {
             return areaAndtype & 0x3f;
         }
 
-        /** Gets the polygon type. (See: #dtPolyTypes) */
+        /// Gets the polygon type. (See: #dtPolyTypes)
         public int GetPolyType()
         {
             return areaAndtype >> 6;

From dfbd1b2caeac6c09ed486fc8f83a6ab731c6885c Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 12 May 2024 00:08:18 +0900
Subject: [PATCH 023/147] update comment

---
 src/DotRecast.Detour/DtMeshData.cs | 31 ++++++++++--------------------
 1 file changed, 10 insertions(+), 21 deletions(-)

diff --git a/src/DotRecast.Detour/DtMeshData.cs b/src/DotRecast.Detour/DtMeshData.cs
index c2ad019..b6e1b3a 100644
--- a/src/DotRecast.Detour/DtMeshData.cs
+++ b/src/DotRecast.Detour/DtMeshData.cs
@@ -22,33 +22,22 @@ namespace DotRecast.Detour
 {
     public class DtMeshData
     {
-        /** The tile header. */
-        public DtMeshHeader header;
+        public DtMeshHeader header; //< The tile header.
+        public DtPoly[] polys; //< The tile polygons. [Size: dtMeshHeader::polyCount]
+        public float[] verts; //< The tile vertices. [(x, y, z) * dtMeshHeader::vertCount] 
+        public DtPolyDetail[] detailMeshes; //< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
 
-        /** The tile vertices. [Size: MeshHeader::vertCount] */
-        public float[] verts;
-
-        /** The tile polygons. [Size: MeshHeader::polyCount] */
-        public DtPoly[] polys;
-
-        /** The tile's detail sub-meshes. [Size: MeshHeader::detailMeshCount] */
-        public DtPolyDetail[] detailMeshes;
-
-        /** The detail mesh's unique vertices. [(x, y, z) * MeshHeader::detailVertCount] */
+        /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
         public float[] detailVerts;
 
-        /**
-         * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and
-         * NavMesh::getDetailTriEdgeFlags.
-         */
+        /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
+        /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
         public int[] detailTris;
 
-        /**
-         * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.)
-         */
+        /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+        /// (Will be null if bounding volumes are disabled.)
         public DtBVNode[] bvTree;
 
-        /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
-        public DtOffMeshConnection[] offMeshCons;
+        public DtOffMeshConnection[] offMeshCons; //< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
     }
 }
\ No newline at end of file

From 61e7b7a443c8aeaed130dd26a27d4b9d6281d3a0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 12 May 2024 00:25:53 +0900
Subject: [PATCH 024/147] update RandomPointInConvexPoly()

---
 src/DotRecast.Detour/DtNavMeshQuery.cs | 12 ++++++------
 src/DotRecast.Detour/DtUtils.cs        |  4 ++--
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 55dad90..8ef9844 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -68,8 +68,8 @@ namespace DotRecast.Detour
             float tsum = 0.0f;
             for (int i = 0; i < m_nav.GetMaxTiles(); i++)
             {
-                DtMeshTile mt = m_nav.GetTile(i);
-                if (mt == null || mt.data == null || mt.data.header == null)
+                DtMeshTile t = m_nav.GetTile(i);
+                if (t == null || t.data == null || t.data.header == null)
                 {
                     continue;
                 }
@@ -80,7 +80,7 @@ namespace DotRecast.Detour
                 float u = frand.Next();
                 if (u * tsum <= area)
                 {
-                    tile = mt;
+                    tile = t;
                 }
             }
 
@@ -146,9 +146,9 @@ namespace DotRecast.Detour
             }
 
             float s = frand.Next();
-            float t = frand.Next();
+            float t0 = frand.Next();
 
-            var pt = DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
+            DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t0, out var pt);
             ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
 
             randomRef = polyRef;
@@ -387,7 +387,7 @@ namespace DotRecast.Detour
             float t = frand.Next();
 
             Span<float> areas = stackalloc float[randomPolyVerts.Length / 3];
-            RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
+            DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t, out var pt);
             ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
 
             randomRef = randomPolyRef;
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index e5c2878..098116c 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -165,7 +165,7 @@ namespace DotRecast.Detour
 
         // Returns a random point in a convex polygon.
         // Adapted from Graphics Gems article.
-        public static RcVec3f RandomPointInConvexPoly(Span<float> pts, int npts, Span<float> areas, float s, float t)
+        public static void RandomPointInConvexPoly(Span<float> pts, int npts, Span<float> areas, float s, float t, out RcVec3f @out)
         {
             // Calc triangle araes
             float areasum = 0.0f;
@@ -202,7 +202,7 @@ namespace DotRecast.Detour
             int pb = (tri - 1) * 3;
             int pc = tri * 3;
 
-            return new RcVec3f()
+            @out = new RcVec3f()
             {
                 X = a * pts[pa] + b * pts[pb] + c * pts[pc],
                 Y = a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1],

From 3f750ba49911d0c52684686085ac15ed384c4c90 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 12 May 2024 00:36:18 +0900
Subject: [PATCH 025/147] update comment, class member name

---
 src/DotRecast.Detour/DtNavMesh.cs | 36 +++++++++++++++----------------
 1 file changed, 17 insertions(+), 19 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 70bddcd..a23861a 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -66,18 +66,16 @@ namespace DotRecast.Detour
         /// The limit is given as a multiple of the character radius
         public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
 
-        private readonly DtNavMeshParams m_params; // < Current initialization params. TODO: do not store this info twice.
+        private readonly DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
         private readonly RcVec3f m_orig; // < Origin of the tile (0,0)
-        // float m_orig[3]; ///< Origin of the tile (0,0)
-
-        private float m_tileWidth;
-        private float m_tileHeight; // < Dimensions of each tile.
-        int m_maxTiles; // < Max number of tiles.
+        private readonly float m_tileWidth;// < Dimensions of each tile.
+        private readonly float m_tileHeight; // < Dimensions of each tile.
+        private readonly int m_maxTiles; // < Max number of tiles.
         private readonly int m_tileLutMask; // < Tile hash lookup mask.
-        private readonly Dictionary<int, List<DtMeshTile>> posLookup = new Dictionary<int, List<DtMeshTile>>();
-
-        private readonly LinkedList<DtMeshTile> availableTiles = new LinkedList<DtMeshTile>();
-        private readonly DtMeshTile[] m_tiles; // List of tiles.
+        
+        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup = new Dictionary<int, List<DtMeshTile>>(); //< Tile hash lookup.
+        private readonly LinkedList<DtMeshTile> m_nextFree = new LinkedList<DtMeshTile>(); //< Freelist of tiles.
+        private readonly DtMeshTile[] m_tiles; //< List of tiles.
 
         /** The maximum number of vertices per navigation polygon. */
         private readonly int m_maxVertPerPoly;
@@ -105,7 +103,7 @@ namespace DotRecast.Detour
             {
                 m_tiles[i] = new DtMeshTile(i);
                 m_tiles[i].salt = 1;
-                availableTiles.AddLast(m_tiles[i]);
+                m_nextFree.AddLast(m_tiles[i]);
             }
         }
 
@@ -475,13 +473,13 @@ namespace DotRecast.Detour
             if (lastRef == 0)
             {
                 // Make sure we could allocate a tile.
-                if (0 == availableTiles.Count)
+                if (0 == m_nextFree.Count)
                 {
                     throw new Exception("Could not allocate a tile");
                 }
 
-                tile = availableTiles.First?.Value;
-                availableTiles.RemoveFirst();
+                tile = m_nextFree.First?.Value;
+                m_nextFree.RemoveFirst();
                 m_tileCount++;
             }
             else
@@ -496,7 +494,7 @@ namespace DotRecast.Detour
                 // Try to find the specific tile id from the free list.
                 DtMeshTile target = m_tiles[tileIndex];
                 // Remove from freelist
-                if (!availableTiles.Remove(target))
+                if (!m_nextFree.Remove(target))
                 {
                     // Could not find the correct location.
                     throw new Exception("Could not find tile");
@@ -634,7 +632,7 @@ namespace DotRecast.Detour
             }
 
             // Add to free list.
-            availableTiles.AddFirst(tile);
+            m_nextFree.AddFirst(tile);
             m_tileCount--;
             return GetTileRef(tile);
         }
@@ -1589,7 +1587,7 @@ namespace DotRecast.Detour
 
         public int GetAvailableTileCount()
         {
-            return availableTiles.Count;
+            return m_nextFree.Count;
         }
 
         public DtStatus SetPolyFlags(long refs, int flags)
@@ -1764,10 +1762,10 @@ namespace DotRecast.Detour
         private List<DtMeshTile> GetTileListByPos(int x, int z)
         {
             var tileHash = ComputeTileHash(x, z, m_tileLutMask);
-            if (!posLookup.TryGetValue(tileHash, out var tiles))
+            if (!m_posLookup.TryGetValue(tileHash, out var tiles))
             {
                 tiles = new List<DtMeshTile>();
-                posLookup.Add(tileHash, tiles);
+                m_posLookup.Add(tileHash, tiles);
             }
 
             return tiles;

From 40306a5302ef689d9ec17241acc898bbaf1040e1 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 12 May 2024 01:11:03 +0900
Subject: [PATCH 026/147] rename RcRecast, DtDetour

---
 .../Jumplink/EdgeExtractor.cs                 |   4 +-
 .../Unity/Astar/GraphMeshDataReader.cs        |   6 +-
 .../Unity/Astar/LinkBuilder.cs                |  10 +-
 src/DotRecast.Detour.TileCache/DtTileCache.cs |  10 +-
 src/DotRecast.Detour/DtDetour.cs              | 176 ++++++++++++++++
 src/DotRecast.Detour/DtMeshTile.cs            |   4 +-
 src/DotRecast.Detour/DtNavMesh.cs             | 192 +-----------------
 src/DotRecast.Detour/DtNavMeshBuilder.cs      |  16 +-
 src/DotRecast.Detour/DtNavMeshQuery.cs        |  45 ++--
 src/DotRecast.Detour/DtPathUtils.cs           |   4 +-
 src/DotRecast.Detour/DtQueryDefaultFilter.cs  |  10 +-
 src/DotRecast.Detour/Io/DtMeshDataReader.cs   |  20 +-
 src/DotRecast.Detour/Io/DtMeshDataWriter.cs   |   4 +-
 src/DotRecast.Detour/Io/DtMeshSetReader.cs    |   4 +-
 .../Draw/NavMeshRenderer.cs                   |   4 +-
 .../Draw/RecastDebugDraw.cs                   |  50 ++---
 src/DotRecast.Recast.Demo/RecastDemo.cs       |   2 +-
 .../Builder/TileNavMeshBuilder.cs             |   4 +-
 .../Tools/RcObstacleTool.cs                   |   2 +-
 .../Tools/RcTileTool.cs                       |   4 +-
 src/DotRecast.Recast/RcAreas.cs               |   3 +-
 src/DotRecast.Recast/RcBuilder.cs             |   2 +-
 src/DotRecast.Recast/RcBuilderConfig.cs       |   2 +-
 src/DotRecast.Recast/RcCompacts.cs            |   7 +-
 src/DotRecast.Recast/RcConstants.cs           |  93 ---------
 src/DotRecast.Recast/RcContours.cs            |   4 +-
 .../RcFilledVolumeRasterization.cs            |   4 +-
 src/DotRecast.Recast/RcFilters.cs             |   4 +-
 src/DotRecast.Recast/RcLayers.cs              |   6 +-
 src/DotRecast.Recast/RcMeshDetails.cs         |   6 +-
 src/DotRecast.Recast/RcMeshs.cs               |   2 +-
 src/DotRecast.Recast/RcRasterizations.cs      |   6 +-
 .../{RcCommons.cs => RcRecast.cs}             |  72 ++++++-
 src/DotRecast.Recast/RcRegions.cs             |   4 +-
 src/DotRecast.Recast/RcSpanPool.cs            |   2 +-
 src/DotRecast.Recast/RcVoxelizations.cs       |   4 +-
 .../Io/MeshSetReaderWriterTest.cs             |   2 +-
 .../NavMeshBuilderTest.cs                     |   3 +-
 .../AbstractTileCacheTest.cs                  |   2 +-
 .../TestTileLayerBuilder.cs                   |   2 +-
 .../DotRecast.Recast.Test/RecastLayersTest.cs |   2 +-
 .../RecastSoloMeshTest.cs                     |   5 +-
 test/DotRecast.Recast.Test/RecastTest.cs      |  11 +-
 43 files changed, 411 insertions(+), 408 deletions(-)
 create mode 100644 src/DotRecast.Detour/DtDetour.cs
 delete mode 100644 src/DotRecast.Recast/RcConstants.cs
 rename src/DotRecast.Recast/{RcCommons.cs => RcRecast.cs} (68%)

diff --git a/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs b/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
index 3b6f852..7810533 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
@@ -1,11 +1,11 @@
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
+    using static RcRecast;
+
     public class EdgeExtractor
     {
         public JumpEdge[] ExtractEdges(RcPolyMesh mesh)
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
index 7678aed..3eb173c 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class GraphMeshDataReader : ZipBinaryReader
     {
         public const float INT_PRECISION_FACTOR = 1000f;
@@ -116,8 +118,8 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     tiles[tileIndex].detailVerts = detailVerts;
                     tiles[tileIndex].detailTris = detailTris;
                     DtMeshHeader header = new DtMeshHeader();
-                    header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-                    header.version = DtNavMesh.DT_NAVMESH_VERSION;
+                    header.magic = DT_NAVMESH_MAGIC;
+                    header.version = DT_NAVMESH_VERSION;
                     header.x = x;
                     header.y = z;
                     header.polyCount = nodeCount;
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
index 29be156..8633693 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
@@ -21,6 +21,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class LinkBuilder
     {
         // Process connections and transform them into recast neighbour flags
@@ -65,19 +67,19 @@ namespace DotRecast.Detour.Extras.Unity.Astar
         {
             if (neighbourTile.header.bmin.X > tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.X < tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DT_EXT_LINK | 4;
             }
             else if (neighbourTile.header.bmin.Z > tile.header.bmin.Z)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DT_EXT_LINK | 6;
             }
         }
     }
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index 8d99f18..fc97d48 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -26,6 +26,8 @@ using DotRecast.Detour.TileCache.Io;
 
 namespace DotRecast.Detour.TileCache
 {
+    using static DtDetour;
+
     public class DtTileCache
     {
         private int m_tileLutSize; // < Tile hash lookup size (must be pot).
@@ -160,7 +162,7 @@ namespace DotRecast.Detour.TileCache
             List<long> tiles = new List<long>();
 
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -178,7 +180,7 @@ namespace DotRecast.Detour.TileCache
         DtCompressedTile GetTileAt(int tx, int ty, int tlayer)
         {
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -266,7 +268,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Insert tile into the position lut.
-            int h = DtNavMesh.ComputeTileHash(header.tx, header.ty, m_tileLutMask);
+            int h = ComputeTileHash(header.tx, header.ty, m_tileLutMask);
             tile.next = m_posLookup[h];
             m_posLookup[h] = tile;
 
@@ -305,7 +307,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Remove tile from hash lookup.
-            int h = DtNavMesh.ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
+            int h = ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
             DtCompressedTile prev = null;
             DtCompressedTile cur = m_posLookup[h];
             while (cur != null)
diff --git a/src/DotRecast.Detour/DtDetour.cs b/src/DotRecast.Detour/DtDetour.cs
new file mode 100644
index 0000000..20a2bc8
--- /dev/null
+++ b/src/DotRecast.Detour/DtDetour.cs
@@ -0,0 +1,176 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
+{
+    public static class DtDetour
+    {
+        /** 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;
+
+        public const int DT_SALT_BITS = 16;
+        public const int DT_TILE_BITS = 28;
+        public const int DT_POLY_BITS = 20;
+
+        /// A flag that indicates that an entity links to an external entity.
+        /// (E.g. A polygon edge is a portal that links to another polygon.)
+        public const int DT_EXT_LINK = 0x8000;
+
+        /// A value that indicates the entity does not link to anything.
+        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
+
+        /// A flag that indicates that an off-mesh connection can be traversed in
+        /// both directions. (Is bidirectional.)
+        public const int DT_OFFMESH_CON_BIDIR = 1;
+
+        /// The maximum number of user defined area ids.
+        public const int DT_MAX_AREAS = 64;
+
+        /// Limit raycasting during any angle pahfinding
+        /// The limit is given as a multiple of the character radius
+        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
+
+        /// @{
+        /// @name Encoding and Decoding
+        /// These functions are generally meant for internal use only.
+        /// Derives a standard polygon reference.
+        ///  @note This function is generally meant for internal use only.
+        ///  @param[in]	salt	The tile's salt value.
+        ///  @param[in]	it		The index of the tile.
+        ///  @param[in]	ip		The index of the polygon within the tile.
+        public static long EncodePolyId(int salt, int it, int ip)
+        {
+            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
+        }
+
+        /// Decodes a standard polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference to decode.
+        /// @param[out] salt The tile's salt value.
+        /// @param[out] it The index of the tile.
+        /// @param[out] ip The index of the polygon within the tile.
+        /// @see #encodePolyId
+        public static void DecodePolyId(long refs, out int salt, out int it, out int ip)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+            it = (int)((refs >> DT_POLY_BITS) & tileMask);
+            ip = (int)(refs & polyMask);
+        }
+
+        /// Extracts a tile's salt value from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdSalt(long refs)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+        }
+
+        /// Extracts the tile's index from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdTile(long refs)
+        {
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            return (int)((refs >> DT_POLY_BITS) & tileMask);
+        }
+
+        /// Extracts the polygon's index (within its tile) from the specified
+        /// polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdPoly(long refs)
+        {
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            return (int)(refs & polyMask);
+        }
+
+        public static int ComputeTileHash(int x, int y, int mask)
+        {
+            uint h1 = 0x8da6b343; // Large multiplicative constants;
+            uint h2 = 0xd8163841; // here arbitrarily chosen primes
+            uint n = h1 * (uint)x + h2 * (uint)y;
+            return (int)(n & mask);
+        }
+
+        public static float GetSlabCoord(float[] verts, int va, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                return verts[va];
+            }
+            else if (side == 2 || side == 6)
+            {
+                return verts[va + 2];
+            }
+
+            return 0;
+        }
+
+        public static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                if (verts[va + 2] < verts[vb + 2])
+                {
+                    bmin.X = verts[va + 2];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 2];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 2];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 2];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+            else if (side == 2 || side == 6)
+            {
+                if (verts[va + 0] < verts[vb + 0])
+                {
+                    bmin.X = verts[va + 0];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 0];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 0];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 0];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+        }
+
+        /// Get flags for edge in detail triangle.
+        /// @param[in]	triFlags		The flags for the triangle (last component of detail vertices above).
+        /// @param[in]	edgeIndex		The index of the first vertex of the edge. For instance, if 0,
+        ///								returns flags for edge AB.
+        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
+        {
+            return (triFlags >> (edgeIndex * 2)) & 0x3;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtMeshTile.cs b/src/DotRecast.Detour/DtMeshTile.cs
index 8b03657..fa973d9 100644
--- a/src/DotRecast.Detour/DtMeshTile.cs
+++ b/src/DotRecast.Detour/DtMeshTile.cs
@@ -22,6 +22,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
      * Defines a navigation mesh tile.
      */
@@ -41,7 +43,7 @@ namespace DotRecast.Detour
         public readonly List<DtLink> links = new List<DtLink>();
 
         /** Index to the next free link. */
-        public int linksFreeList = DtNavMesh.DT_NULL_LINK; // FIXME: Remove
+        public int linksFreeList = DT_NULL_LINK; // FIXME: Remove
 
         /** Tile flags. (See: #dtTileFlags) */
         public int flags;
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index a23861a..5a4317b 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -25,56 +25,19 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public class DtNavMesh
     {
-        /** 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;
-
-        public const int DT_SALT_BITS = 16;
-        public const int DT_TILE_BITS = 28;
-        public const int DT_POLY_BITS = 20;
-
-        /// A flag that indicates that an entity links to an external entity.
-        /// (E.g. A polygon edge is a portal that links to another polygon.)
-        public const int DT_EXT_LINK = 0x8000;
-
-        /// A value that indicates the entity does not link to anything.
-        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
-
-        /// A flag that indicates that an off-mesh connection can be traversed in
-        /// both directions. (Is bidirectional.)
-        public const int DT_OFFMESH_CON_BIDIR = 1;
-
-        /// The maximum number of user defined area ids.
-        public const int DT_MAX_AREAS = 64;
-
-        /// Limit raycasting during any angle pahfinding
-        /// The limit is given as a multiple of the character radius
-        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
-
         private readonly DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
         private readonly RcVec3f m_orig; // < Origin of the tile (0,0)
-        private readonly float m_tileWidth;// < Dimensions of each tile.
+        private readonly float m_tileWidth; // < Dimensions of each tile.
         private readonly float m_tileHeight; // < Dimensions of each tile.
         private readonly int m_maxTiles; // < Max number of tiles.
         private readonly int m_tileLutMask; // < Tile hash lookup mask.
-        
-        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup = new Dictionary<int, List<DtMeshTile>>(); //< Tile hash lookup.
-        private readonly LinkedList<DtMeshTile> m_nextFree = new LinkedList<DtMeshTile>(); //< Freelist of tiles.
+
+        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
+        private readonly LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
         private readonly DtMeshTile[] m_tiles; //< List of tiles.
 
         /** The maximum number of vertices per navigation polygon. */
@@ -98,6 +61,8 @@ namespace DotRecast.Detour
             m_maxTiles = option.maxTiles;
             m_maxVertPerPoly = maxVertsPerPoly;
             m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
+            m_posLookup = new Dictionary<int, List<DtMeshTile>>();
+            m_nextFree = new LinkedList<DtMeshTile>();
             m_tiles = new DtMeshTile[m_maxTiles];
             for (int i = 0; i < m_maxTiles; i++)
             {
@@ -155,67 +120,6 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, it, 0);
         }
 
-        /// @{
-        /// @name Encoding and Decoding
-        /// These functions are generally meant for internal use only.
-        /// Derives a standard polygon reference.
-        ///  @note This function is generally meant for internal use only.
-        ///  @param[in]	salt	The tile's salt value.
-        ///  @param[in]	it		The index of the tile.
-        ///  @param[in]	ip		The index of the polygon within the tile.
-        public static long EncodePolyId(int salt, int it, int ip)
-        {
-            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
-        }
-
-        /// Decodes a standard polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference to decode.
-        /// @param[out] salt The tile's salt value.
-        /// @param[out] it The index of the tile.
-        /// @param[out] ip The index of the polygon within the tile.
-        /// @see #encodePolyId
-        static void DecodePolyId(long refs, out int salt, out int it, out int ip)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-            it = (int)((refs >> DT_POLY_BITS) & tileMask);
-            ip = (int)(refs & polyMask);
-        }
-
-        /// Extracts a tile's salt value from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdSalt(long refs)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-        }
-
-        /// Extracts the tile's index from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        public static int DecodePolyIdTile(long refs)
-        {
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            return (int)((refs >> DT_POLY_BITS) & tileMask);
-        }
-
-        /// Extracts the polygon's index (within its tile) from the specified
-        /// polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdPoly(long refs)
-        {
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            return (int)(refs & polyMask);
-        }
-
         private int AllocLink(DtMeshTile tile)
         {
             if (tile.linksFreeList == DT_NULL_LINK)
@@ -509,7 +413,7 @@ namespace DotRecast.Detour
             tile.flags = flags;
             tile.links.Clear();
             tile.polyLinks = new int[data.polys.Length];
-            Array.Fill(tile.polyLinks, DtNavMesh.DT_NULL_LINK);
+            Array.Fill(tile.polyLinks, DT_NULL_LINK);
 
             // Insert tile into the position lut.
             GetTileListByPos(header.x, header.y).Add(tile);
@@ -622,7 +526,7 @@ namespace DotRecast.Detour
 
             tile.flags = 0;
             tile.links.Clear();
-            tile.linksFreeList = DtNavMesh.DT_NULL_LINK;
+            tile.linksFreeList = DT_NULL_LINK;
 
             // Update salt, salt should never be zero.
             tile.salt = (tile.salt + 1) & ((1 << DT_SALT_BITS) - 1);
@@ -956,59 +860,7 @@ namespace DotRecast.Detour
             return n;
         }
 
-        static float GetSlabCoord(float[] verts, int va, int side)
-        {
-            if (side == 0 || side == 4)
-            {
-                return verts[va];
-            }
-            else if (side == 2 || side == 6)
-            {
-                return verts[va + 2];
-            }
-
-            return 0;
-        }
-
-        static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
-        {
-            if (side == 0 || side == 4)
-            {
-                if (verts[va + 2] < verts[vb + 2])
-                {
-                    bmin.X = verts[va + 2];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 2];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 2];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 2];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-            else if (side == 2 || side == 6)
-            {
-                if (verts[va + 0] < verts[vb + 0])
-                {
-                    bmin.X = verts[va + 0];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 0];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 0];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 0];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-        }
-
-        bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
+        private bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
         {
             // Check for horizontal overlap.
             // The segment is shrunken a little so that slabs which touch
@@ -1496,14 +1348,6 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, tile.index, 0);
         }
 
-        public static int ComputeTileHash(int x, int y, int mask)
-        {
-            uint h1 = 0x8da6b343; // Large multiplicative constants;
-            uint h2 = 0xd8163841; // here arbitrarily chosen primes
-            uint n = h1 * (uint)x + h2 * (uint)y;
-            return (int)(n & mask);
-        }
-
         /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
         ///  @param[in]		prevRef		The reference of the polygon before the connection.
         ///  @param[in]		polyRef		The reference of the off-mesh connection polygon.
@@ -1745,20 +1589,6 @@ namespace DotRecast.Detour
             return center;
         }
 
-        /**
-     * Get flags for edge in detail triangle.
-     *
-     * @param triFlags
-     *            The flags for the triangle (last component of detail vertices above).
-     * @param edgeIndex
-     *            The index of the first vertex of the edge. For instance, if 0,
-     * @return flags for edge AB.
-     */
-        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
-        {
-            return (triFlags >> (edgeIndex * 2)) & 0x3;
-        }
-
         private List<DtMeshTile> GetTileListByPos(int x, int z)
         {
             var tileHash = ComputeTileHash(x, z, m_tileLutMask);
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index 81258db..f22534d 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -24,6 +24,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtNavMeshBuilder
     {
         const int MESH_NULL_IDX = 0xffff;
@@ -424,8 +426,8 @@ namespace DotRecast.Detour
             DtOffMeshConnection[] offMeshCons = new DtOffMeshConnection[storedOffMeshConCount];
 
             // Store header
-            header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-            header.version = DtNavMesh.DT_NAVMESH_VERSION;
+            header.magic = DT_NAVMESH_MAGIC;
+            header.version = DT_NAVMESH_VERSION;
             header.x = option.tileX;
             header.y = option.tileZ;
             header.layer = option.tileLayer;
@@ -497,13 +499,13 @@ namespace DotRecast.Detour
                         if (dir == 0xf) // Border
                             p.neis[j] = 0;
                         else if (dir == 0) // Portal x-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 4;
+                            p.neis[j] = DT_EXT_LINK | 4;
                         else if (dir == 1) // Portal z+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 2;
+                            p.neis[j] = DT_EXT_LINK | 2;
                         else if (dir == 2) // Portal x+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 0;
+                            p.neis[j] = DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 6;
+                            p.neis[j] = DT_EXT_LINK | 6;
                     }
                     else
                     {
@@ -622,7 +624,7 @@ namespace DotRecast.Detour
                     }
 
                     con.rad = option.offMeshConRad[i];
-                    con.flags = option.offMeshConDir[i] != 0 ? DtNavMesh.DT_OFFMESH_CON_BIDIR : 0;
+                    con.flags = option.offMeshConDir[i] != 0 ? DT_OFFMESH_CON_BIDIR : 0;
                     con.side = offMeshConClass[i * 2 + 1];
                     if (option.offMeshConUserID != null)
                         con.userId = option.offMeshConUserID[i];
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 8ef9844..894e77a 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -26,6 +26,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public class DtNavMeshQuery
     {
         /// < Add a vertex at every polygon edge crossing.
@@ -300,7 +302,7 @@ namespace DotRecast.Detour
                     parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id;
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -775,7 +777,7 @@ namespace DotRecast.Detour
                 // so it is enough to compute it from the first tile.
                 DtMeshTile tile = m_nav.GetTileByRef(startRef);
                 float agentRadius = tile.data.header.walkableRadius;
-                raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
+                raycastLimitSqr = RcMath.Sqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
             }
 
             if (startRef == endRef)
@@ -851,7 +853,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1046,7 +1048,7 @@ namespace DotRecast.Detour
                 // so it is enough to compute it from the first tile.
                 DtMeshTile tile = m_nav.GetTileByRef(startRef);
                 float agentRadius = tile.data.header.walkableRadius;
-                m_query.raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
+                m_query.raycastLimitSqr = RcMath.Sqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
             }
 
             if (startRef == endRef)
@@ -1172,7 +1174,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1862,10 +1864,10 @@ namespace DotRecast.Detour
                     // Find links to neighbours.
                     int nneis = 0;
 
-                    if ((curPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((curPoly.neis[j] & DT_EXT_LINK) != 0)
                     {
                         // Tile border.
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             DtLink link = curTile.links[k];
                             if (link.edge == j)
@@ -1960,7 +1962,8 @@ namespace DotRecast.Detour
                     visited[n++] = node.id;
                     if (n >= maxVisitedSize)
                     {
-                        status |= DtStatus.DT_BUFFER_TOO_SMALL;;
+                        status |= DtStatus.DT_BUFFER_TOO_SMALL;
+                        ;
                         break;
                     }
 
@@ -2010,7 +2013,7 @@ namespace DotRecast.Detour
 
             // Find the link that points to the 'to' polygon.
             DtLink link = null;
-            for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next)
+            for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
             {
                 if (fromTile.links[i].refs == to)
                 {
@@ -2028,7 +2031,7 @@ namespace DotRecast.Detour
             if (fromPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
                 // Find link that points to first vertex.
-                for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next)
+                for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
                 {
                     if (fromTile.links[i].refs == to)
                     {
@@ -2050,7 +2053,7 @@ namespace DotRecast.Detour
 
             if (toPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
-                for (int i = toTile.polyLinks[toPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = toTile.links[i].next)
+                for (int i = toTile.polyLinks[toPoly.index]; i != DT_NULL_LINK; i = toTile.links[i].next)
                 {
                     if (toTile.links[i].refs == from)
                     {
@@ -2326,7 +2329,7 @@ namespace DotRecast.Detour
                 // Follow neighbours.
                 long nextRef = 0;
 
-                for (int i = tile.polyLinks[poly.index]; i != DtNavMesh.DT_NULL_LINK; i = tile.links[i].next)
+                for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
                 {
                     DtLink link = tile.links[i];
 
@@ -2567,7 +2570,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2744,7 +2747,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2899,7 +2902,7 @@ namespace DotRecast.Detour
                 long curRef = curNode.id;
                 m_nav.GetTileAndPolyByRefUnsafe(curRef, out var curTile, out var curPoly);
 
-                for (int i = curTile.polyLinks[curPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = curTile.links[i].next)
+                for (int i = curTile.polyLinks[curPoly.index]; i != DT_NULL_LINK; i = curTile.links[i].next)
                 {
                     DtLink link = curTile.links[i];
                     long neighbourRef = link.refs;
@@ -2967,7 +2970,7 @@ namespace DotRecast.Detour
 
                         // Connected polys do not overlap.
                         bool connected = false;
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             if (curTile.links[k].refs == pastRef)
                             {
@@ -3073,10 +3076,10 @@ namespace DotRecast.Detour
             {
                 // Skip non-solid edges.
                 ints.Clear();
-                if ((poly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                if ((poly.neis[j] & DT_EXT_LINK) != 0)
                 {
                     // Tile border.
-                    for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                    for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                     {
                         DtLink link = tile.links[k];
                         if (link.edge == j)
@@ -3240,11 +3243,11 @@ namespace DotRecast.Detour
                 for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++)
                 {
                     // Skip non-solid edges.
-                    if ((bestPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((bestPoly.neis[j] & DT_EXT_LINK) != 0)
                     {
                         // Tile border.
                         bool solid = true;
-                        for (int k = bestTile.polyLinks[bestPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = bestTile.links[k].next)
+                        for (int k = bestTile.polyLinks[bestPoly.index]; k != DT_NULL_LINK; k = bestTile.links[k].next)
                         {
                             DtLink link = bestTile.links[k];
                             if (link.edge == j)
@@ -3300,7 +3303,7 @@ namespace DotRecast.Detour
                     bestvi = RcVecUtils.Create(bestTile.data.verts, vi);
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index fea9700..b018467 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -24,6 +24,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtPathUtils
     {
         private const int MAX_STEER_POINTS = 3;
@@ -107,7 +109,7 @@ namespace DotRecast.Detour
             }
 
 
-            for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+            for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
             {
                 DtLink link = tile.links[k];
                 if (link.refs != 0)
diff --git a/src/DotRecast.Detour/DtQueryDefaultFilter.cs b/src/DotRecast.Detour/DtQueryDefaultFilter.cs
index 4bbffa2..4a10d5a 100644
--- a/src/DotRecast.Detour/DtQueryDefaultFilter.cs
+++ b/src/DotRecast.Detour/DtQueryDefaultFilter.cs
@@ -23,6 +23,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
  * <b>The Default Implementation</b>
  *
@@ -50,7 +52,7 @@ namespace DotRecast.Detour
  */
     public class DtQueryDefaultFilter : IDtQueryFilter
     {
-        private readonly float[] m_areaCost = new float[DtNavMesh.DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
+        private readonly float[] m_areaCost = new float[DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
         private int m_includeFlags; //< Flags for polygons that can be visited. (Used by default implementation.) 
         private int m_excludeFlags; //< Flags for polygons that should not be visited. (Used by default implementation.) 
 
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
         {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-            for (int i = 0; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = 0; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
@@ -68,12 +70,12 @@ namespace DotRecast.Detour
         {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-            for (int i = 0; i < Math.Min(DtNavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
+            for (int i = 0; i < Math.Min(DT_MAX_AREAS, areaCost.Length); ++i)
             {
                 m_areaCost[i] = areaCost[i];
             }
 
-            for (int i = areaCost.Length; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = areaCost.Length; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
diff --git a/src/DotRecast.Detour/Io/DtMeshDataReader.cs b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
index 4d83ef2..0ae0c2d 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
@@ -21,6 +21,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataReader
     {
         public const int DT_POLY_DETAIL_SIZE = 10;
@@ -53,10 +55,10 @@ namespace DotRecast.Detour.Io
             DtMeshHeader header = new DtMeshHeader();
             data.header = header;
             header.magic = buf.GetInt();
-            if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+            if (header.magic != DT_NAVMESH_MAGIC)
             {
                 header.magic = IOUtils.SwapEndianness(header.magic);
-                if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+                if (header.magic != DT_NAVMESH_MAGIC)
                 {
                     throw new IOException("Invalid magic");
                 }
@@ -65,16 +67,16 @@ namespace DotRecast.Detour.Io
             }
 
             header.version = buf.GetInt();
-            if (header.version != DtNavMesh.DT_NAVMESH_VERSION)
+            if (header.version != DT_NAVMESH_VERSION)
             {
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_FIRST
-                    || header.version > DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_FIRST
+                    || header.version > DT_NAVMESH_VERSION_RECAST4J_LAST)
                 {
                     throw new IOException("Invalid version " + header.version);
                 }
             }
 
-            bool cCompatibility = header.version == DtNavMesh.DT_NAVMESH_VERSION;
+            bool cCompatibility = header.version == DT_NAVMESH_VERSION;
             header.x = buf.GetInt();
             header.y = buf.GetInt();
             header.layer = buf.GetInt();
@@ -91,7 +93,7 @@ namespace DotRecast.Detour.Io
             header.walkableHeight = buf.GetFloat();
             header.walkableRadius = buf.GetFloat();
             header.walkableClimb = buf.GetFloat();
-            
+
             header.bmin.X = buf.GetFloat();
             header.bmin.Y = buf.GetFloat();
             header.bmin.Z = buf.GetFloat();
@@ -141,7 +143,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < polys.Length; i++)
             {
                 polys[i] = new DtPoly(i, maxVertPerPoly);
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
                 {
                     buf.GetInt(); // polys[i].firstLink
                 }
@@ -200,7 +202,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < nodes.Length; i++)
             {
                 nodes[i] = new DtBVNode();
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
                 {
                     for (int j = 0; j < 3; j++)
                     {
diff --git a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
index fd9cf65..4189676 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
@@ -21,13 +21,15 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataWriter : DtWriter
     {
         public void Write(BinaryWriter stream, DtMeshData data, RcByteOrder order, bool cCompatibility)
         {
             DtMeshHeader header = data.header;
             Write(stream, header.magic, order);
-            Write(stream, cCompatibility ? DtNavMesh.DT_NAVMESH_VERSION : DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST, order);
+            Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
             Write(stream, header.x, order);
             Write(stream, header.y, order);
             Write(stream, header.layer, order);
diff --git a/src/DotRecast.Detour/Io/DtMeshSetReader.cs b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
index a02e020..8162a1b 100644
--- a/src/DotRecast.Detour/Io/DtMeshSetReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshSetReader
     {
         private readonly DtMeshDataReader meshReader = new DtMeshDataReader();
@@ -147,7 +149,7 @@ namespace DotRecast.Detour.Io
             int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask);
             int it = ((refs >> m_polyBits) & tileMask);
             int ip = refs & polyMask;
-            return DtNavMesh.EncodePolyId(salt, it, ip);
+            return EncodePolyId(salt, it, ip);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
index 14562b0..6b3d4c7 100644
--- a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
@@ -23,14 +23,14 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Toolset.Geom;
-using static DotRecast.Recast.RcCommons;
+using static DotRecast.Recast.RcRecast;
 
 namespace DotRecast.Recast.Demo.Draw;
 
 public class NavMeshRenderer
 {
     private readonly RecastDebugDraw _debugDraw;
-    private readonly int _navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
+    private readonly int _navMeshDrawFlags = RecastDebugDraw.DU_DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DU_DRAWNAVMESH_CLOSEDLIST;
 
     public NavMeshRenderer(RecastDebugDraw debugDraw)
     {
diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index 5ce784d..9c4374e 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -22,16 +22,20 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
+using DotRecast.Detour.Crowd;
+using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Recast.Toolset.Builder;
 using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+using static DtDetour;
+
 public class RecastDebugDraw : DebugDraw
 {
-    public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04;
+    public static readonly int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public static readonly int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public static readonly int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
@@ -101,7 +105,7 @@ public class RecastDebugDraw : DebugDraw
 
     public void DebugDrawNavMeshWithClosedList(DtNavMesh mesh, DtNavMeshQuery query, int flags)
     {
-        DtNavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
+        DtNavMeshQuery q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
         for (int i = 0; i < mesh.GetMaxTiles(); ++i)
         {
             DtMeshTile tile = mesh.GetTile(i);
@@ -116,7 +120,7 @@ public class RecastDebugDraw : DebugDraw
     {
         long @base = mesh.GetPolyRefBase(tile);
 
-        int tileNum = DtNavMesh.DecodePolyIdTile(@base);
+        int tileNum = DecodePolyIdTile(@base);
         int tileColor = DuIntToCol(tileNum, 128);
         DepthMask(false);
         Begin(DebugDrawPrimitives.TRIS);
@@ -135,7 +139,7 @@ public class RecastDebugDraw : DebugDraw
             }
             else
             {
-                if ((flags & DRAWNAVMESH_COLOR_TILES) != 0)
+                if ((flags & DU_DRAWNAVMESH_COLOR_TILES) != 0)
                 {
                     col = tileColor;
                 }
@@ -163,7 +167,7 @@ public class RecastDebugDraw : DebugDraw
         // Draw outer poly boundaries
         DrawPolyBoundaries(tile, DuRGBA(0, 48, 64, 220), 2.5f, false);
 
-        if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0)
+        if ((flags & DU_DRAWNAVMESH_OFFMESHCONS) != 0)
         {
             Begin(DebugDrawPrimitives.LINES, 2.0f);
             for (int i = 0; i < tile.data.header.polyCount; ++i)
@@ -198,7 +202,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -319,10 +323,10 @@ public class RecastDebugDraw : DebugDraw
                         continue;
                     }
 
-                    if ((p.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((p.neis[j] & DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {
@@ -394,7 +398,7 @@ public class RecastDebugDraw : DebugDraw
 
                         for (int m = 0, n = 2; m < 3; n = m++)
                         {
-                            if ((DtNavMesh.GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
+                            if ((GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
                                 continue;
 
                             if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0)
@@ -498,7 +502,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         color = DuRGBA(0, 192, 255, 64);
                     }
-                    else if (area == RcConstants.RC_NULL_AREA)
+                    else if (area == RcRecast.RC_NULL_AREA)
                     {
                         color = DuRGBA(0, 0, 0, 64);
                     }
@@ -670,7 +674,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.rverts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -717,7 +721,7 @@ public class RecastDebugDraw : DebugDraw
                 int vb0 = c.verts[j * 4];
                 int vb1 = c.verts[j * 4 + 1];
                 int vb2 = c.verts[j * 4 + 2];
-                int col = (va3 & RcConstants.RC_AREA_BORDER) != 0 ? bcolor : color;
+                int col = (va3 & RcRecast.RC_AREA_BORDER) != 0 ? bcolor : color;
 
                 float fx = orig.X + va0 * cs;
                 float fy = orig.Y + (va1 + 1 + (i & 1)) * ch;
@@ -748,7 +752,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.verts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -828,7 +832,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         fcol[0] = DuRGBA(64, 128, 160, 255);
                     }
-                    else if (s.area == RcConstants.RC_NULL_AREA)
+                    else if (s.area == RcRecast.RC_NULL_AREA)
                     {
                         fcol[0] = DuRGBA(64, 64, 64, 255);
                     }
@@ -950,7 +954,7 @@ public class RecastDebugDraw : DebugDraw
             {
                 color = DuRGBA(0, 192, 255, 64);
             }
-            else if (area == RcConstants.RC_NULL_AREA)
+            else if (area == RcRecast.RC_NULL_AREA)
             {
                 color = DuRGBA(0, 0, 0, 64);
             }
@@ -962,7 +966,7 @@ public class RecastDebugDraw : DebugDraw
             int[] vi = new int[3];
             for (int j = 2; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -993,7 +997,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1003,7 +1007,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 for (int k = 0; k < 2; ++k)
@@ -1027,7 +1031,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1037,7 +1041,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 int col = colb;
@@ -1328,7 +1332,7 @@ public class RecastDebugDraw : DebugDraw
 
         for (int side = 0; side < 8; ++side)
         {
-            int m = DtNavMesh.DT_EXT_LINK | (short)side;
+            int m = DT_EXT_LINK | (short)side;
 
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs
index fbddfe9..44d2576 100644
--- a/src/DotRecast.Recast.Demo/RecastDemo.cs
+++ b/src/DotRecast.Recast.Demo/RecastDemo.cs
@@ -462,7 +462,7 @@ public class RecastDemo : IRecastDemoChannel
             var settings = _sample.GetSettings();
             RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin();
             RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
             settingsView.SetVoxels(gw, gh);
             settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
             settingsView.SetMaxTiles(tileNavMeshBuilder.GetMaxTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
diff --git a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
index 5542c25..07e4328 100644
--- a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
@@ -158,7 +158,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private int GetTileBits(IInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
@@ -167,7 +167,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         public int[] GetTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             return new int[] { tw, th };
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
index 68e22e1..463f80e 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -42,7 +42,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // Init cache
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
             int ts = setting.tileSize;
             int tw = (gw + ts - 1) / ts;
             int th = (gh + ts - 1) / ts;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
index f20f763..38d93dc 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
@@ -23,7 +23,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -47,7 +47,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
diff --git a/src/DotRecast.Recast/RcAreas.cs b/src/DotRecast.Recast/RcAreas.cs
index 08c96f6..2f987d9 100644
--- a/src/DotRecast.Recast/RcAreas.cs
+++ b/src/DotRecast.Recast/RcAreas.cs
@@ -25,8 +25,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcAreas
     {
diff --git a/src/DotRecast.Recast/RcBuilder.cs b/src/DotRecast.Recast/RcBuilder.cs
index 0620809..78ff7d0 100644
--- a/src/DotRecast.Recast/RcBuilder.cs
+++ b/src/DotRecast.Recast/RcBuilder.cs
@@ -30,7 +30,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
     using static RcAreas;
 
     public class RcBuilder
diff --git a/src/DotRecast.Recast/RcBuilderConfig.cs b/src/DotRecast.Recast/RcBuilderConfig.cs
index f5bfb9e..31fda79 100644
--- a/src/DotRecast.Recast/RcBuilderConfig.cs
+++ b/src/DotRecast.Recast/RcBuilderConfig.cs
@@ -92,7 +92,7 @@ namespace DotRecast.Recast
             }
             else
             {
-                RcCommons.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
+                RcRecast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
             }
         }
     }
diff --git a/src/DotRecast.Recast/RcCompacts.cs b/src/DotRecast.Recast/RcCompacts.cs
index 5502b10..3ee1f47 100644
--- a/src/DotRecast.Recast/RcCompacts.cs
+++ b/src/DotRecast.Recast/RcCompacts.cs
@@ -20,17 +20,14 @@ freely, subject to the following restrictions:
 using System;
 using System.Linq;
 using DotRecast.Core;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
-
+    using static RcRecast;
 
     public static class RcCompacts
     {
-        private const int MAX_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
+        private const int MAX_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
         /// @}
         /// @name Compact Heightfield Functions
diff --git a/src/DotRecast.Recast/RcConstants.cs b/src/DotRecast.Recast/RcConstants.cs
deleted file mode 100644
index 15c99f2..0000000
--- a/src/DotRecast.Recast/RcConstants.cs
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-namespace DotRecast.Recast
-{
-    public static class RcConstants
-    {
-        /// Represents the null area.
-        /// When a data element is given this value it is considered to no longer be 
-        /// assigned to a usable area.  (E.g. It is un-walkable.)
-        public const int RC_NULL_AREA = 0;
-        
-        /// The default area id used to indicate a walkable polygon. 
-        /// This is also the maximum allowed area id, and the only non-null area id 
-        /// recognized by some steps in the build process. 
-        public const int RC_WALKABLE_AREA = 63;
-
-        /// The value returned by #rcGetCon if the specified direction is not connected
-        /// to another span. (Has no neighbor.)
-        public const int RC_NOT_CONNECTED = 0x3f;
-        
-        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_HEIGHT_BITS = 20;
-
-        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
-
-        /// The number of spans allocated per span spool.
-        /// @see rcSpanPool
-        public const int RC_SPANS_PER_POOL = 2048;
-        
-        /// Heighfield border flag.
-        /// If a heightfield region ID has this bit set, then the region is a border
-        /// region and its spans are considered unwalkable.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg
-        public const int RC_BORDER_REG = 0x8000;
-
-        /// Polygon touches multiple regions.
-        /// If a polygon has this region ID it was merged with or created
-        /// from polygons of different regions during the polymesh
-        /// build step that removes redundant border vertices.
-        /// (Used during the polymesh and detail polymesh build processes)
-        /// @see rcPolyMesh::regs
-        public const int RC_MULTIPLE_REGS = 0;
-
-        // Border vertex flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// a tile border. If a contour vertex's region ID has this bit set, the
-        /// vertex will later be removed in order to match the segments and vertices
-        /// at tile boundaries.
-        /// (Used during the build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_BORDER_VERTEX = 0x10000;
-
-        /// Area border flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// the border of an area.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_AREA_BORDER = 0x20000;
-
-        /// Applied to the region id field of contour vertices in order to extract the region id.
-        /// The region id field of a vertex may have several flags applied to it. So the
-        /// fields value can't be used directly.
-        /// @see rcContour::verts, rcContour::rverts
-        public const int RC_CONTOUR_REG_MASK = 0xffff;
-
-        /// A value which indicates an invalid index within a mesh.
-        /// @note This does not necessarily indicate an error.
-        /// @see rcPolyMesh::polys
-        public const int RC_MESH_NULL_IDX = 0xffff;
-
-        public const int RC_LOG_WARNING = 1;
-    }
-}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcContours.cs b/src/DotRecast.Recast/RcContours.cs
index 2adba4f..f73ae46 100644
--- a/src/DotRecast.Recast/RcContours.cs
+++ b/src/DotRecast.Recast/RcContours.cs
@@ -24,8 +24,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcContours
     {
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index ad4cf09..7aa5c86 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -20,11 +20,11 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcFilledVolumeRasterization
     {
         private const float EPSILON = 0.00001f;
diff --git a/src/DotRecast.Recast/RcFilters.cs b/src/DotRecast.Recast/RcFilters.cs
index f373677..dcf3383 100644
--- a/src/DotRecast.Recast/RcFilters.cs
+++ b/src/DotRecast.Recast/RcFilters.cs
@@ -23,8 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcFilters
     {
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index cf22d2a..b7911ee 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -25,12 +25,12 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcLayers
     {
-        const int RC_MAX_LAYERS = RcConstants.RC_NOT_CONNECTED;
+        const int RC_MAX_LAYERS = RcRecast.RC_NOT_CONNECTED;
         const int RC_MAX_NEIS = 16;
 
 
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index f3fbcca..30ccb7d 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -22,11 +22,11 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
 
 
     public static class RcMeshDetails
@@ -35,7 +35,7 @@ namespace DotRecast.Recast
         public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
         public const int MAX_VERTS_PER_EDGE = 32;
 
-        public const int RC_UNSET_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
+        public const int RC_UNSET_HEIGHT = RcRecast.RC_SPAN_MAX_HEIGHT;
         public const int EV_UNDEF = -1;
         public const int EV_HULL = -2;
 
diff --git a/src/DotRecast.Recast/RcMeshs.cs b/src/DotRecast.Recast/RcMeshs.cs
index 269be05..eee15ae 100644
--- a/src/DotRecast.Recast/RcMeshs.cs
+++ b/src/DotRecast.Recast/RcMeshs.cs
@@ -24,7 +24,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    using static RcRecast;
 
     public static class RcMeshs
     {
diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs
index d1cf465..fdceef8 100644
--- a/src/DotRecast.Recast/RcRasterizations.cs
+++ b/src/DotRecast.Recast/RcRasterizations.cs
@@ -21,10 +21,12 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcRasterizations
     {
         /// Check whether two bounding boxes overlap
@@ -41,7 +43,7 @@ namespace DotRecast.Recast
                 aMin.Y <= bMax.Y && aMax.Y >= bMin.Y &&
                 aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
         }
-        
+
         /// Allocates a new span in the heightfield.
         /// Use a memory pool and free list to minimize actual allocations.
         /// 
diff --git a/src/DotRecast.Recast/RcCommons.cs b/src/DotRecast.Recast/RcRecast.cs
similarity index 68%
rename from src/DotRecast.Recast/RcCommons.cs
rename to src/DotRecast.Recast/RcRecast.cs
index cbebebf..b0599d9 100644
--- a/src/DotRecast.Recast/RcCommons.cs
+++ b/src/DotRecast.Recast/RcRecast.cs
@@ -24,10 +24,76 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-
-    public static class RcCommons
+    public static class RcRecast
     {
+        /// Represents the null area.
+        /// When a data element is given this value it is considered to no longer be 
+        /// assigned to a usable area.  (E.g. It is un-walkable.)
+        public const int RC_NULL_AREA = 0;
+
+        /// The default area id used to indicate a walkable polygon. 
+        /// This is also the maximum allowed area id, and the only non-null area id 
+        /// recognized by some steps in the build process. 
+        public const int RC_WALKABLE_AREA = 63;
+
+        /// The value returned by #rcGetCon if the specified direction is not connected
+        /// to another span. (Has no neighbor.)
+        public const int RC_NOT_CONNECTED = 0x3f;
+
+        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_HEIGHT_BITS = 20;
+
+        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+        /// The number of spans allocated per span spool.
+        /// @see rcSpanPool
+        public const int RC_SPANS_PER_POOL = 2048;
+
+        /// Heighfield border flag.
+        /// If a heightfield region ID has this bit set, then the region is a border
+        /// region and its spans are considered unwalkable.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg
+        public const int RC_BORDER_REG = 0x8000;
+
+        /// Polygon touches multiple regions.
+        /// If a polygon has this region ID it was merged with or created
+        /// from polygons of different regions during the polymesh
+        /// build step that removes redundant border vertices.
+        /// (Used during the polymesh and detail polymesh build processes)
+        /// @see rcPolyMesh::regs
+        public const int RC_MULTIPLE_REGS = 0;
+
+        // Border vertex flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// a tile border. If a contour vertex's region ID has this bit set, the
+        /// vertex will later be removed in order to match the segments and vertices
+        /// at tile boundaries.
+        /// (Used during the build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_BORDER_VERTEX = 0x10000;
+
+        /// Area border flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// the border of an area.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_AREA_BORDER = 0x20000;
+
+        /// Applied to the region id field of contour vertices in order to extract the region id.
+        /// The region id field of a vertex may have several flags applied to it. So the
+        /// fields value can't be used directly.
+        /// @see rcContour::verts, rcContour::rverts
+        public const int RC_CONTOUR_REG_MASK = 0xffff;
+
+        /// A value which indicates an invalid index within a mesh.
+        /// @note This does not necessarily indicate an error.
+        /// @see rcPolyMesh::polys
+        public const int RC_MESH_NULL_IDX = 0xffff;
+
+        public const int RC_LOG_WARNING = 1;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
         private static readonly int[] DirForOffset = { 3, 0, -1, 2, 1 };
diff --git a/src/DotRecast.Recast/RcRegions.cs b/src/DotRecast.Recast/RcRegions.cs
index bcde43c..137ba46 100644
--- a/src/DotRecast.Recast/RcRegions.cs
+++ b/src/DotRecast.Recast/RcRegions.cs
@@ -25,8 +25,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcRegions
     {
diff --git a/src/DotRecast.Recast/RcSpanPool.cs b/src/DotRecast.Recast/RcSpanPool.cs
index 393ceea..3422103 100644
--- a/src/DotRecast.Recast/RcSpanPool.cs
+++ b/src/DotRecast.Recast/RcSpanPool.cs
@@ -28,7 +28,7 @@ namespace DotRecast.Recast
 
         public RcSpanPool()
         {
-            items = new RcSpan[RcConstants.RC_SPANS_PER_POOL];
+            items = new RcSpan[RcRecast.RC_SPANS_PER_POOL];
             for (int i = 0; i < items.Length; ++i)
             {
                 items[i] = new RcSpan();
diff --git a/src/DotRecast.Recast/RcVoxelizations.cs b/src/DotRecast.Recast/RcVoxelizations.cs
index 3cc9b90..5c772ad 100644
--- a/src/DotRecast.Recast/RcVoxelizations.cs
+++ b/src/DotRecast.Recast/RcVoxelizations.cs
@@ -55,7 +55,7 @@ namespace DotRecast.Recast
                     {
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
-                        int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                        int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                         RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
@@ -63,7 +63,7 @@ namespace DotRecast.Recast
                 {
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
-                    int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                    int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                     RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                 }
             }
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
index c01ea73..b10d12e 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
@@ -70,7 +70,7 @@ public class MeshSetReaderWriterTest
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         for (int y = 0; y < th; ++y)
         {
             for (int x = 0; x < tw; ++x)
diff --git a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
index 2a3abbb..5fc7d68 100644
--- a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
+++ b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
@@ -21,6 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+using static DtDetour;
 
 public class NavMeshBuilderTest
 {
@@ -57,7 +58,7 @@ public class NavMeshBuilderTest
 
         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(DtNavMesh.DT_OFFMESH_CON_BIDIR));
+        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DT_OFFMESH_CON_BIDIR));
         Assert.That(nmd.offMeshCons[0].side, Is.EqualTo(0xFF));
         Assert.That(nmd.offMeshCons[0].userId, Is.EqualTo(0x4567));
         Assert.That(nmd.polys[118].vertCount, Is.EqualTo(2));
diff --git a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
index fded142..a0cb359 100644
--- a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
@@ -44,7 +44,7 @@ public class AbstractTileCacheTest
     public DtTileCache GetTileCache(IInputGeomProvider geom, RcByteOrder order, bool cCompatibility)
     {
         DtTileCacheParams option = new DtTileCacheParams();
-        RcCommons.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         option.ch = m_cellHeight;
         option.cs = m_cellSize;
         option.orig = geom.GetMeshBoundsMin();
diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
index 3864ac2..17d4224 100644
--- a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
@@ -73,7 +73,7 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
+        RcRecast.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
     }
 
     public List<byte[]> Build(RcByteOrder order, bool cCompatibility, int threads)
diff --git a/test/DotRecast.Recast.Test/RecastLayersTest.cs b/test/DotRecast.Recast.Test/RecastLayersTest.cs
index 1dbb009..61a6cb8 100644
--- a/test/DotRecast.Recast.Test/RecastLayersTest.cs
+++ b/test/DotRecast.Recast.Test/RecastLayersTest.cs
@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+
 
 
 public class RecastLayersTest
diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
index 37c04c9..6945437 100644
--- a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
+++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
@@ -25,10 +25,9 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
 using static RcAreas;
 
-
 public class RecastSoloMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -139,7 +138,7 @@ public class RecastSoloMeshTest
             // Find triangles which are walkable based on their slope and rasterize them.
             // If your input data is multiple meshes, you can transform them here, calculate
             // the are type for each of the meshes and rasterize them.
-            int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+            int[] m_triareas = RcRecast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
             RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
         }
 
diff --git a/test/DotRecast.Recast.Test/RecastTest.cs b/test/DotRecast.Recast.Test/RecastTest.cs
index 3e08464..949db86 100644
--- a/test/DotRecast.Recast.Test/RecastTest.cs
+++ b/test/DotRecast.Recast.Test/RecastTest.cs
@@ -21,8 +21,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
-
+using static RcRecast;
 
 public class RecastTest
 {
@@ -39,19 +38,19 @@ public class RecastTest
         RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Sets area ID of unwalkable triangle to RC_NULL_AREA");
         }
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(42), "Does not modify walkable triangle aread ID's");
         }
         {
             int[] areas = { 42 };
             walkableSlopeAngle = 0;
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Slopes equal to the max slope are considered unwalkable.");
         }
     }
-}
+}
\ No newline at end of file

From 47be4eca7084648efb98c85de529f7545f36b0f3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 12 May 2024 22:05:19 +0900
Subject: [PATCH 027/147] added DtNavMesh.Init()

---
 CHANGELOG.md                                  |  3 +
 .../DtDynamicNavMesh.cs                       |  6 +-
 src/DotRecast.Detour.Dynamic/DtDynamicTile.cs | 14 +--
 .../Jumplink/NavMeshGroundSampler.cs          | 10 ++-
 .../Unity/Astar/GraphMeshDataReader.cs        |  2 +-
 .../Astar/UnityAStarPathfindingImporter.cs    |  5 +-
 src/DotRecast.Detour.TileCache/DtTileCache.cs |  2 +-
 .../Io/DtTileCacheReader.cs                   |  3 +-
 src/DotRecast.Detour/DtNavMesh.cs             | 86 +++++++++++--------
 src/DotRecast.Detour/Io/DtMeshSetReader.cs    |  5 +-
 .../Builder/SoloNavMeshBuilder.cs             |  9 +-
 .../Builder/TileNavMeshBuilder.cs             |  5 +-
 .../Tools/RcObstacleTool.cs                   |  3 +-
 .../AbstractCrowdTest.cs                      |  4 +-
 .../AbstractDetourTest.cs                     |  5 +-
 .../Io/MeshSetReaderWriterTest.cs             |  6 +-
 .../TestTiledNavMeshBuilder.cs                |  6 +-
 .../AbstractTileCacheTest.cs                  |  3 +-
 18 files changed, 108 insertions(+), 69 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 608d9b1..a7fa4cd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,9 +8,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 - Added RcSpans UnitTest
+- Added DtNavMesh.Init() interface
  
 ### Fixed
 ### Changed
+- RcRecast, DtDetour 
+ 
 ### Removed
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index dc40c41..555aba5 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -224,9 +224,13 @@ namespace DotRecast.Detour.Dynamic
         {
             if (_dirty)
             {
-                DtNavMesh navMesh = new DtNavMesh(navMeshParams, MAX_VERTS_PER_POLY);
+                DtNavMesh navMesh = new DtNavMesh();
+                navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
+
                 foreach (var t in _tiles.Values)
+                {
                     t.AddTo(navMesh);
+                }
 
                 _navMesh = navMesh;
                 _dirty = false;
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
index 4f31dcd..111f9f2 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
@@ -168,12 +168,12 @@ namespace DotRecast.Detour.Dynamic
             option.buildBvTree = true;
 
             option.offMeshConCount = 0;
-            option.offMeshConVerts = new float[0];
-            option.offMeshConRad = new float[0];
-            option.offMeshConDir = new int[0];
-            option.offMeshConAreas = new int[0];
-            option.offMeshConFlags = new int[0];
-            option.offMeshConUserID = new int[0];
+            option.offMeshConVerts = Array.Empty<float>();
+            option.offMeshConRad = Array.Empty<float>();
+            option.offMeshConDir = Array.Empty<int>();
+            option.offMeshConAreas = Array.Empty<int>();
+            option.offMeshConFlags = Array.Empty<int>();
+            option.offMeshConUserID = Array.Empty<int>();
             return option;
         }
 
@@ -181,7 +181,7 @@ namespace DotRecast.Detour.Dynamic
         {
             if (meshData != null)
             {
-                id = navMesh.AddTile(meshData, 0, 0);
+                navMesh.AddTile(meshData, 0, 0, out var id);
             }
             else
             {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index a48e819..7c9f3d9 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -1,6 +1,5 @@
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
 using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
@@ -36,7 +35,14 @@ namespace DotRecast.Detour.Extras.Jumplink
             option.cs = r.Mesh.cs;
             option.ch = r.Mesh.ch;
             option.buildBvTree = true;
-            return new DtNavMeshQuery(new DtNavMesh(DtNavMeshBuilder.CreateNavMeshData(option), option.nvp, 0));
+            var mesh = new DtNavMesh();
+            var status = mesh.Init(DtNavMeshBuilder.CreateNavMeshData(option), option.nvp, 0);
+            if (status.Failed())
+            {
+                return null;
+            }
+
+            return new DtNavMeshQuery(mesh);
         }
 
 
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
index 3eb173c..50f84ba 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
@@ -78,7 +78,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     int nodeCount = buffer.GetInt();
                     DtPoly[] nodes = new DtPoly[nodeCount];
                     DtPolyDetail[] detailNodes = new DtPolyDetail[nodeCount];
-                    float[] detailVerts = new float[0];
+                    float[] detailVerts = Array.Empty<float>();
                     int[] detailTris = new int[4 * nodeCount];
                     int vertMask = GetVertMask(vertsCount);
                     float ymin = float.PositiveInfinity;
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
index b65db19..71404ae 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
@@ -65,10 +65,11 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                 option.orig.X = -0.5f * graphMeta.forcedBoundsSize.x + graphMeta.forcedBoundsCenter.x;
                 option.orig.Y = -0.5f * graphMeta.forcedBoundsSize.y + graphMeta.forcedBoundsCenter.y;
                 option.orig.Z = -0.5f * graphMeta.forcedBoundsSize.z + graphMeta.forcedBoundsCenter.z;
-                DtNavMesh mesh = new DtNavMesh(option, 3);
+                DtNavMesh mesh = new DtNavMesh();
+                mesh.Init(option, 3);
                 foreach (DtMeshData t in graphMeshData.tiles)
                 {
-                    mesh.AddTile(t, 0, 0);
+                    mesh.AddTile(t, 0, 0, out _);
                 }
 
                 meshes[graphIndex] = mesh;
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index fc97d48..9f5d394 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -672,7 +672,7 @@ namespace DotRecast.Detour.TileCache
             // Add new tile, or leave the location empty. if (navData) { // Let the
             if (meshData != null)
             {
-                m_navmesh.AddTile(meshData, 0, 0);
+                m_navmesh.AddTile(meshData, 0, 0, out var result);
             }
         }
 
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
index 80fbc07..43f3d1a 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
@@ -69,7 +69,8 @@ namespace DotRecast.Detour.TileCache.Io
             header.numTiles = bb.GetInt();
             header.meshParams = paramReader.Read(bb);
             header.cacheParams = ReadCacheParams(bb, cCompatibility);
-            DtNavMesh mesh = new DtNavMesh(header.meshParams, maxVertPerPoly);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.meshParams, maxVertPerPoly);
             IRcCompressor comp = _compFactory.Create(cCompatibility ? 0 : 1);
             DtTileCacheStorageParams storageParams = new DtTileCacheStorageParams(bb.Order(), cCompatibility);
             DtTileCache tc = new DtTileCache(header.cacheParams, storageParams, mesh, comp, meshProcessor);
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 5a4317b..2166f2b 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -29,29 +29,23 @@ namespace DotRecast.Detour
 
     public class DtNavMesh
     {
-        private readonly DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
-        private readonly RcVec3f m_orig; // < Origin of the tile (0,0)
-        private readonly float m_tileWidth; // < Dimensions of each tile.
-        private readonly float m_tileHeight; // < Dimensions of each tile.
-        private readonly int m_maxTiles; // < Max number of tiles.
-        private readonly int m_tileLutMask; // < Tile hash lookup mask.
+        private DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
+        private RcVec3f m_orig; // < Origin of the tile (0,0)
+        private float m_tileWidth; // < Dimensions of each tile.
+        private float m_tileHeight; // < Dimensions of each tile.
+        private int m_maxTiles; // < Max number of tiles.
+        private int m_tileLutMask; // < Tile hash lookup mask.
 
-        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
-        private readonly LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
-        private readonly DtMeshTile[] m_tiles; //< List of tiles.
+        private Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
+        private LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
+        private DtMeshTile[] m_tiles; //< List of tiles.
 
         /** The maximum number of vertices per navigation polygon. */
-        private readonly int m_maxVertPerPoly;
+        private int m_maxVertPerPoly;
 
         private int m_tileCount;
 
-        public DtNavMesh(DtMeshData data, int maxVertsPerPoly, int flags)
-            : this(GetNavMeshParams(data), maxVertsPerPoly)
-        {
-            AddTile(data, flags, 0);
-        }
-
-        public DtNavMesh(DtNavMeshParams option, int maxVertsPerPoly)
+        public DtStatus Init(DtNavMeshParams option, int maxVertsPerPoly)
         {
             m_params = option;
             m_orig = option.orig;
@@ -70,6 +64,18 @@ namespace DotRecast.Detour
                 m_tiles[i].salt = 1;
                 m_nextFree.AddLast(m_tiles[i]);
             }
+
+            return DtStatus.DT_SUCCESS;
+        }
+
+        public DtStatus Init(DtMeshData data, int maxVertsPerPoly, int flags)
+        {
+            var option = GetNavMeshParams(data);
+            DtStatus status = Init(option, maxVertsPerPoly);
+            if (status.Failed())
+                return status;
+
+            return AddTile(data, flags, 0, out _);
         }
 
         private static DtNavMeshParams GetNavMeshParams(DtMeshData data)
@@ -328,31 +334,21 @@ namespace DotRecast.Detour
             }
         }
 
-        public long UpdateTile(DtMeshData data, int flags)
+        public DtStatus UpdateTile(DtMeshData data, int flags)
         {
             long refs = GetTileRefAt(data.header.x, data.header.y, data.header.layer);
             refs = RemoveTile(refs);
-            return AddTile(data, flags, refs);
+            return AddTile(data, flags, refs, out _);
         }
 
-        /// Adds a tile to the navigation mesh.
-        /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData)
-        /// @param[in] dataSize Data size of the new tile mesh.
-        /// @param[in] flags Tile flags. (See: #dtTileFlags)
-        /// @param[in] lastRef The desired reference for the tile. (When reloading a
-        /// tile.) [opt] [Default: 0]
-        /// @param[out] result The tile reference. (If the tile was succesfully
-        /// added.) [opt]
-        /// @return The status flags for the operation.
         /// @par
         ///
-        /// The add operation will fail if the data is in the wrong format, the
-        /// allocated tile
+        /// The add operation will fail if the data is in the wrong format, the allocated tile
         /// space is full, or there is a tile already at the specified reference.
         ///
         /// The lastRef parameter is used to restore a tile with the same tile
-        /// reference it had previously used. In this case the #long's for the
-        /// tile will be restored to the same values they were before the tile was
+        /// reference it had previously used.  In this case the #dtPolyRef's for the
+        /// tile will be restored to the same values they were before the tile was 
         /// removed.
         ///
         /// The nav mesh assumes exclusive access to the data passed and will make
@@ -361,15 +357,24 @@ namespace DotRecast.Detour
         /// removed from this nav mesh.
         ///
         /// @see dtCreateNavMeshData, #removeTile
-        public long AddTile(DtMeshData data, int flags, long lastRef)
+        /// Adds a tile to the navigation mesh.
+        ///  @param[in]		data		Data for the new tile mesh. (See: #dtCreateNavMeshData)
+        ///  @param[in]		dataSize	Data size of the new tile mesh.
+        ///  @param[in]		flags		Tile flags. (See: #dtTileFlags)
+        ///  @param[in]		lastRef		The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
+        ///  @param[out]	result		The tile reference. (If the tile was succesfully added.) [opt]
+        /// @return The status flags for the operation. 
+        public DtStatus AddTile(DtMeshData data, int flags, long lastRef, out long result)
         {
+            result = 0;
+
             // Make sure the data is in right format.
             DtMeshHeader header = data.header;
 
             // Make sure the location is free.
             if (GetTileAt(header.x, header.y, header.layer) != null)
             {
-                throw new Exception("Tile already exists");
+                return DtStatus.DT_FAILURE | DtStatus.DT_ALREADY_OCCUPIED;
             }
 
             // Allocate a tile.
@@ -392,7 +397,7 @@ namespace DotRecast.Detour
                 int tileIndex = DecodePolyIdTile(lastRef);
                 if (tileIndex >= m_maxTiles)
                 {
-                    throw new Exception("Tile index too high");
+                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
                 }
 
                 // Try to find the specific tile id from the free list.
@@ -401,7 +406,7 @@ namespace DotRecast.Detour
                 if (!m_nextFree.Remove(target))
                 {
                     // Could not find the correct location.
-                    throw new Exception("Could not find tile");
+                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
                 }
 
                 tile = target;
@@ -409,6 +414,12 @@ namespace DotRecast.Detour
                 tile.salt = DecodePolyIdSalt(lastRef);
             }
 
+            // Make sure we could allocate a tile.
+            if (null == tile)
+            {
+                return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+            }
+
             tile.data = data;
             tile.flags = flags;
             tile.links.Clear();
@@ -461,7 +472,8 @@ namespace DotRecast.Detour
                 }
             }
 
-            return GetTileRef(tile);
+            result = GetTileRef(tile);
+            return DtStatus.DT_SUCCESS;
         }
 
         /// Removes the specified tile from the navigation mesh.
diff --git a/src/DotRecast.Detour/Io/DtMeshSetReader.cs b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
index 8162a1b..a9964d0 100644
--- a/src/DotRecast.Detour/Io/DtMeshSetReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
@@ -68,7 +68,8 @@ namespace DotRecast.Detour.Io
             }
 
             bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION;
-            DtNavMesh mesh = new DtNavMesh(header.option, header.maxVertsPerPoly);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.option, header.maxVertsPerPoly);
             ReadTiles(bb, is32Bit, ref header, cCompatibility, mesh);
             return mesh;
         }
@@ -133,7 +134,7 @@ namespace DotRecast.Detour.Io
                 }
 
                 DtMeshData data = meshReader.Read(bb, mesh.GetMaxVertsPerPoly(), is32Bit);
-                mesh.AddTile(data, i, tileHeader.tileRef);
+                mesh.AddTile(data, i, tileHeader.tileRef, out _);
             }
         }
 
diff --git a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
index 10b4c09..3d13771 100644
--- a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
@@ -73,7 +73,14 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)
         {
-            return new DtNavMesh(meshData, vertsPerPoly, 0);
+            var mesh = new DtNavMesh();
+            var status = mesh.Init(meshData, vertsPerPoly, 0);
+            if (status.Failed())
+            {
+                return null;
+            }
+            
+            return mesh;
         }
 
         private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg, bool keepInterResults)
diff --git a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
index 07e4328..0132714 100644
--- a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
@@ -115,8 +115,9 @@ namespace DotRecast.Recast.Toolset.Builder
 
             navMeshParams.maxTiles = GetMaxTiles(geom, cellSize, tileSize);
             navMeshParams.maxPolys = GetMaxPolysPerTile(geom, cellSize, tileSize);
-            DtNavMesh navMesh = new DtNavMesh(navMeshParams, vertsPerPoly);
-            meshData.ForEach(md => navMesh.AddTile(md, 0, 0));
+            DtNavMesh navMesh = new DtNavMesh();
+            navMesh.Init(navMeshParams, vertsPerPoly);
+            meshData.ForEach(md => navMesh.AddTile(md, 0, 0, out _));
             return navMesh;
         }
 
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
index 463f80e..47c9416 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -141,7 +141,8 @@ namespace DotRecast.Recast.Toolset.Tools
             navMeshParams.maxTiles = 256; // ..
             navMeshParams.maxPolys = 16384;
 
-            var navMesh = new DtNavMesh(navMeshParams, 6);
+            var navMesh = new DtNavMesh();
+            navMesh.Init(navMeshParams, 6);
             var comp = _comp.Create(cCompatibility ? 0 : 1);
             var storageParams = new DtTileCacheStorageParams(order, cCompatibility);
             DtTileCache tc = new DtTileCache(option, storageParams, navMesh, comp, _proc);
diff --git a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
index 0df0e02..720e63a 100644
--- a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
@@ -25,7 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-
 public class AbstractCrowdTest
 {
     protected readonly long[] startRefs =
@@ -64,7 +63,8 @@ public class AbstractCrowdTest
     public void SetUp()
     {
         nmd = new RecastTestMeshBuilder().GetMeshData();
-        navmesh = new DtNavMesh(nmd, 6, 0);
+        navmesh = new DtNavMesh();
+        navmesh.Init(nmd, 6, 0);
         query = new DtNavMeshQuery(navmesh);
         DtCrowdConfig config = new DtCrowdConfig(0.6f);
         crowd = new DtCrowd(config, navmesh);
diff --git a/test/DotRecast.Detour.Test/AbstractDetourTest.cs b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
index 2e086b7..552cb31 100644
--- a/test/DotRecast.Detour.Test/AbstractDetourTest.cs
+++ b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
@@ -21,7 +21,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public abstract class AbstractDetourTest
 {
     protected static readonly long[] startRefs =
@@ -64,6 +63,8 @@ public abstract class AbstractDetourTest
 
     protected DtNavMesh CreateNavMesh()
     {
-        return new DtNavMesh(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
+        var mesh = new DtNavMesh();
+        mesh.Init(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
+        return mesh;
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
index b10d12e..02ca48e 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
@@ -28,7 +28,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-
 public class MeshSetReaderWriterTest
 {
     private readonly DtMeshSetWriter writer = new DtMeshSetWriter();
@@ -66,7 +65,8 @@ public class MeshSetReaderWriterTest
         header.option.maxTiles = m_maxTiles;
         header.option.maxPolys = m_maxPolysPerTile;
         header.numTiles = 0;
-        DtNavMesh mesh = new DtNavMesh(header.option, 6);
+        DtNavMesh mesh = new DtNavMesh();
+        mesh.Init(header.option, 6);
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
@@ -92,7 +92,7 @@ public class MeshSetReaderWriterTest
                 if (data != null)
                 {
                     mesh.RemoveTile(mesh.GetTileRefAt(x, y, 0));
-                    mesh.AddTile(data, 0, 0);
+                    mesh.AddTile(data, 0, 0, out _);
                 }
             }
         }
diff --git a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
index c03623e..e82a3a2 100644
--- a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
+++ b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
@@ -17,7 +17,6 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
@@ -64,7 +63,8 @@ public class TestTiledNavMeshBuilder
         navMeshParams.tileHeight = tileSize * cellSize;
         navMeshParams.maxTiles = 128;
         navMeshParams.maxPolys = 32768;
-        navMesh = new DtNavMesh(navMeshParams, 6);
+        navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
 
         // Build all tiles
         RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize),
@@ -119,7 +119,7 @@ public class TestTiledNavMeshBuilder
             option.tileX = result.TileX;
             option.tileZ = result.TileZ;
             option.buildBvTree = true;
-            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0);
+            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
         }
     }
 
diff --git a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
index a0cb359..81ba262 100644
--- a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
@@ -64,7 +64,8 @@ public class AbstractTileCacheTest
         navMeshParams.maxTiles = 256;
         navMeshParams.maxPolys = 16384;
 
-        var navMesh = new DtNavMesh(navMeshParams, 6);
+        var navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
         var comp = DtTileCacheCompressorFactory.Shared.Create(cCompatibility ? 0 : 1);
         var storageParams = new DtTileCacheStorageParams(order, cCompatibility);
         var process = new TestTileCacheMeshProcess();

From 4e7afa64c6f28694a7cba53db4a00cda226ef645 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 14 May 2024 23:17:39 +0900
Subject: [PATCH 028/147] update comment in DtNavMeshParams

---
 src/DotRecast.Detour/DtNavMeshParams.cs | 29 ++++++++-----------------
 1 file changed, 9 insertions(+), 20 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshParams.cs b/src/DotRecast.Detour/DtNavMeshParams.cs
index 81cf963..3de5487 100644
--- a/src/DotRecast.Detour/DtNavMeshParams.cs
+++ b/src/DotRecast.Detour/DtNavMeshParams.cs
@@ -22,27 +22,16 @@ using DotRecast.Core.Numerics;
 
 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
- */
+    /// Configuration parameters used to define multi-tile navigation meshes.
+    /// The values are used to allocate space during the initialization of a navigation mesh.
+    /// @see dtNavMesh::init()
+    /// @ingroup detour
     public struct DtNavMeshParams
     {
-        /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */
-        public RcVec3f orig;
-
-        /** 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;
+        public RcVec3f orig; //< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+        public float tileWidth; //< The width of each tile. (Along the x-axis.)
+        public float tileHeight; //< The height of each tile. (Along the z-axis.)
+        public int maxTiles; //< The maximum number of tiles the navigation mesh can contain. This and maxPolys are used to calculate how many bits are needed to identify tiles and polygons uniquely.
+        public int maxPolys; //< The maximum number of polygons each tile can contain. This and maxTiles are used to calculate how many bits are needed to identify tiles and polygons uniquely.
     }
 }
\ No newline at end of file

From a649081a5bafe90cd3d1bdfe720ffd511e137e46 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 14 May 2024 23:46:54 +0900
Subject: [PATCH 029/147] update comment DtMeshTile class

---
 src/DotRecast.Detour/DtMeshTile.cs | 26 +++++++++-----------------
 1 file changed, 9 insertions(+), 17 deletions(-)

diff --git a/src/DotRecast.Detour/DtMeshTile.cs b/src/DotRecast.Detour/DtMeshTile.cs
index fa973d9..4a34ef5 100644
--- a/src/DotRecast.Detour/DtMeshTile.cs
+++ b/src/DotRecast.Detour/DtMeshTile.cs
@@ -24,33 +24,25 @@ namespace DotRecast.Detour
 {
     using static DtDetour;
 
-    /**
-     * Defines a navigation mesh tile.
-     */
+    /// Defines a navigation mesh tile.
+    /// @ingroup detour
     public class DtMeshTile
     {
-        public readonly int index;
-
-        /** Counter describing modifications to the tile. */
-        public int salt;
-
-        /** The tile data. */
-        public DtMeshData data;
+        public readonly int index; // DtNavMesh.m_tiles array index
+        public int linksFreeList = DT_NULL_LINK; //< Index to the next free link.
+        public int salt; //< Counter describing modifications to the tile.
+        public DtMeshData data; // The tile data.
 
         public int[] polyLinks;
 
-        /** The tile links. */
-        public readonly List<DtLink> links = new List<DtLink>();
+        public readonly List<DtLink> links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
 
-        /** Index to the next free link. */
-        public int linksFreeList = DT_NULL_LINK; // FIXME: Remove
-
-        /** Tile flags. (See: #dtTileFlags) */
-        public int flags;
+        public int flags; //< Tile flags. (See: #dtTileFlags)
 
         public DtMeshTile(int index)
         {
             this.index = index;
+            this.links = new List<DtLink>();
         }
     }
 }
\ No newline at end of file

From 4543df0b90c955311a2ba051b55cb90f05441379 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 15 May 2024 23:06:52 +0900
Subject: [PATCH 030/147] update comment

---
 src/DotRecast.Detour/DtBVNode.cs     | 20 ++++++-----------
 src/DotRecast.Detour/DtLink.cs       | 32 ++++++++--------------------
 src/DotRecast.Detour/DtPolyDetail.cs | 17 +++++----------
 3 files changed, 20 insertions(+), 49 deletions(-)

diff --git a/src/DotRecast.Detour/DtBVNode.cs b/src/DotRecast.Detour/DtBVNode.cs
index 2de5e75..2e4ff4e 100644
--- a/src/DotRecast.Detour/DtBVNode.cs
+++ b/src/DotRecast.Detour/DtBVNode.cs
@@ -20,21 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /**
- * Bounding volume node.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Bounding volume node.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtBVNode
     {
-        /** 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;
+        public int[] bmin = new int[3]; //< Minimum bounds of the node's AABB. [(x, y, z)]
+        public int[] bmax = new int[3]; //< Maximum bounds of the node's AABB. [(x, y, z)]
+        public int i; //< The node's index. (Negative for escape sequence.)
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtLink.cs b/src/DotRecast.Detour/DtLink.cs
index 434bb73..d249ce4 100644
--- a/src/DotRecast.Detour/DtLink.cs
+++ b/src/DotRecast.Detour/DtLink.cs
@@ -20,30 +20,16 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /**
- * Defines a link between polygons.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Defines a link between polygons.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtLink
     {
-        /** 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;
+        public long refs; //< Neighbour reference. (The neighbor that is linked to.)
+        public int next; //< Index of the next link.
+        public int edge; //< Index of the polygon edge that owns this link.
+        public int side; //< If a boundary link, defines on which side the link is.
+        public int bmin; //< If a boundary link, defines the minimum sub-edge area.
+        public int bmax; //< If a boundary link, defines the maximum sub-edge area.
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtPolyDetail.cs b/src/DotRecast.Detour/DtPolyDetail.cs
index cd813a4..7ea88c6 100644
--- a/src/DotRecast.Detour/DtPolyDetail.cs
+++ b/src/DotRecast.Detour/DtPolyDetail.cs
@@ -20,20 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines the location of detail sub-mesh data within a dtMeshTile. */
+    /// Defines the location of detail sub-mesh data within a dtMeshTile.
     public readonly struct DtPolyDetail
     {
-        /** The offset of the vertices in the MeshTile::detailVerts array. */
-        public readonly int vertBase;
-
-        /** The offset of the triangles in the MeshTile::detailTris array. */
-        public readonly int triBase;
-
-        /** The number of vertices in the sub-mesh. */
-        public readonly int vertCount;
-
-        /** The number of triangles in the sub-mesh. */
-        public readonly int triCount;
+        public readonly int vertBase; //< The offset of the vertices in the dtMeshTile::detailVerts array.
+        public readonly int triBase; //< The offset of the triangles in the dtMeshTile::detailTris array.
+        public readonly int vertCount; //< The number of vertices in the sub-mesh.
+        public readonly int triCount; //< The number of triangles in the sub-mesh.
 
         public DtPolyDetail(int vertBase, int triBase, int vertCount, int triCount)
         {

From c3208f79680c4692b4005c3a07c1371b03650653 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 16 May 2024 00:30:07 +0900
Subject: [PATCH 031/147] changed polyLinks to firstLinks

---
 src/DotRecast.Detour/DtLink.cs                |   3 +
 src/DotRecast.Detour/DtMeshTile.cs            |   8 +-
 src/DotRecast.Detour/DtNavMesh.cs             | 138 +++++++++---------
 src/DotRecast.Detour/DtNavMeshQuery.cs        |  30 ++--
 src/DotRecast.Detour/DtPathUtils.cs           |   2 +-
 src/DotRecast.Detour/DtPoly.cs                |   4 +-
 .../Draw/RecastDebugDraw.cs                   |   4 +-
 7 files changed, 96 insertions(+), 93 deletions(-)

diff --git a/src/DotRecast.Detour/DtLink.cs b/src/DotRecast.Detour/DtLink.cs
index d249ce4..13360e4 100644
--- a/src/DotRecast.Detour/DtLink.cs
+++ b/src/DotRecast.Detour/DtLink.cs
@@ -18,6 +18,8 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour
 {
     /// Defines a link between polygons.
@@ -25,6 +27,7 @@ namespace DotRecast.Detour
     /// @see dtMeshTile
     public class DtLink
     {
+        public readonly int index; // DtMeshTile.links array index
         public long refs; //< Neighbour reference. (The neighbor that is linked to.)
         public int next; //< Index of the next link.
         public int edge; //< Index of the polygon edge that owns this link.
diff --git a/src/DotRecast.Detour/DtMeshTile.cs b/src/DotRecast.Detour/DtMeshTile.cs
index 4a34ef5..3f56287 100644
--- a/src/DotRecast.Detour/DtMeshTile.cs
+++ b/src/DotRecast.Detour/DtMeshTile.cs
@@ -18,8 +18,6 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System.Collections.Generic;
-
 namespace DotRecast.Detour
 {
     using static DtDetour;
@@ -32,17 +30,13 @@ namespace DotRecast.Detour
         public int linksFreeList = DT_NULL_LINK; //< Index to the next free link.
         public int salt; //< Counter describing modifications to the tile.
         public DtMeshData data; // The tile data.
-
-        public int[] polyLinks;
-
-        public readonly List<DtLink> links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
+        public DtLink[] links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
 
         public int flags; //< Tile flags. (See: #dtTileFlags)
 
         public DtMeshTile(int index)
         {
             this.index = index;
-            this.links = new List<DtLink>();
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 2166f2b..e1cc0ea 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -129,12 +129,7 @@ namespace DotRecast.Detour
         private int AllocLink(DtMeshTile tile)
         {
             if (tile.linksFreeList == DT_NULL_LINK)
-            {
-                DtLink link = new DtLink();
-                link.next = DT_NULL_LINK;
-                tile.links.Add(link);
-                return tile.links.Count - 1;
-            }
+                return DT_NULL_LINK;
 
             int linkIdx = tile.linksFreeList;
             tile.linksFreeList = tile.links[linkIdx].next;
@@ -420,16 +415,16 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
             }
 
-            tile.data = data;
-            tile.flags = flags;
-            tile.links.Clear();
-            tile.polyLinks = new int[data.polys.Length];
-            Array.Fill(tile.polyLinks, DT_NULL_LINK);
-
             // Insert tile into the position lut.
             GetTileListByPos(header.x, header.y).Add(tile);
 
             // Patch header pointers.
+            tile.data = data;
+            tile.links = new DtLink[data.header.maxLinkCount];
+            for (int i = 0; i < tile.links.Length; ++i)
+            {
+                tile.links[i] = new DtLink();
+            }
 
             // If there are no items in the bvtree, reset the tree pointer.
             if (tile.data.bvTree != null && tile.data.bvTree.Length == 0)
@@ -437,7 +432,14 @@ namespace DotRecast.Detour
                 tile.data.bvTree = null;
             }
 
+            // Build links freelist
+            tile.linksFreeList = 0;
+            tile.links[data.header.maxLinkCount - 1].next = DT_NULL_LINK;
+            for (int i = 0; i < data.header.maxLinkCount - 1; ++i)
+                tile.links[i].next = i + 1;
+
             // Init tile.
+            tile.flags = flags;
 
             ConnectIntLinks(tile);
             // Base off-mesh connections to their starting polygons and connect connections inside the tile.
@@ -535,9 +537,8 @@ namespace DotRecast.Detour
 
             // Reset tile.
             tile.data = null;
-
             tile.flags = 0;
-            tile.links.Clear();
+            tile.links = null;
             tile.linksFreeList = DT_NULL_LINK;
 
             // Update salt, salt should never be zero.
@@ -566,7 +567,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                tile.polyLinks[poly.index] = DT_NULL_LINK;
+                poly.firstLink = DT_NULL_LINK;
 
                 if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
                 {
@@ -590,13 +591,13 @@ namespace DotRecast.Detour
                     link.side = 0xff;
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = tile.polyLinks[poly.index];
-                    tile.polyLinks[poly.index] = idx;
+                    link.next = poly.firstLink;
+                    poly.firstLink = idx;
                 }
             }
         }
 
-        /// Removes external links at specified side.V
+        /// Removes external links at specified side.
         void UnconnectLinks(DtMeshTile tile, DtMeshTile target)
         {
             if (tile == null || target == null)
@@ -609,7 +610,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                int j = tile.polyLinks[poly.index];
+                int j = poly.firstLink;
                 int pj = DT_NULL_LINK;
                 while (j != DT_NULL_LINK)
                 {
@@ -619,7 +620,7 @@ namespace DotRecast.Detour
                         int nj = tile.links[j].next;
                         if (pj == DT_NULL_LINK)
                         {
-                            tile.polyLinks[poly.index] = nj;
+                            poly.firstLink = nj;
                         }
                         else
                         {
@@ -679,46 +680,49 @@ namespace DotRecast.Detour
                     foreach (var connectPoly in connectPolys)
                     {
                         int idx = AllocLink(tile);
-                        DtLink link = tile.links[idx];
-                        link.refs = connectPoly.refs;
-                        link.edge = j;
-                        link.side = dir;
-
-                        link.next = tile.polyLinks[poly.index];
-                        tile.polyLinks[poly.index] = idx;
-
-                        // Compress portal limits to a byte value.
-                        if (dir == 0 || dir == 4)
+                        if (idx != DT_NULL_LINK)
                         {
-                            float tmin = (connectPoly.tmin - tile.data.verts[va + 2])
-                                         / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
-                            float tmax = (connectPoly.tmax - tile.data.verts[va + 2])
-                                         / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
-                            if (tmin > tmax)
-                            {
-                                float temp = tmin;
-                                tmin = tmax;
-                                tmax = temp;
-                            }
+                            DtLink link = tile.links[idx];
+                            link.refs = connectPoly.refs;
+                            link.edge = j;
+                            link.side = dir;
 
-                            link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
-                        }
-                        else if (dir == 2 || dir == 6)
-                        {
-                            float tmin = (connectPoly.tmin - tile.data.verts[va])
-                                         / (tile.data.verts[vb] - tile.data.verts[va]);
-                            float tmax = (connectPoly.tmax - tile.data.verts[va])
-                                         / (tile.data.verts[vb] - tile.data.verts[va]);
-                            if (tmin > tmax)
-                            {
-                                float temp = tmin;
-                                tmin = tmax;
-                                tmax = temp;
-                            }
+                            link.next = poly.firstLink;
+                            poly.firstLink = idx;
 
-                            link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                            // Compress portal limits to a byte value.
+                            if (dir == 0 || dir == 4)
+                            {
+                                float tmin = (connectPoly.tmin - tile.data.verts[va + 2])
+                                             / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
+                                float tmax = (connectPoly.tmax - tile.data.verts[va + 2])
+                                             / (tile.data.verts[vb + 2] - tile.data.verts[va + 2]);
+                                if (tmin > tmax)
+                                {
+                                    float temp = tmin;
+                                    tmin = tmax;
+                                    tmax = temp;
+                                }
+
+                                link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                            }
+                            else if (dir == 2 || dir == 6)
+                            {
+                                float tmin = (connectPoly.tmin - tile.data.verts[va])
+                                             / (tile.data.verts[vb] - tile.data.verts[va]);
+                                float tmax = (connectPoly.tmax - tile.data.verts[va])
+                                             / (tile.data.verts[vb] - tile.data.verts[va]);
+                                if (tmin > tmax)
+                                {
+                                    float temp = tmin;
+                                    tmin = tmax;
+                                    tmax = temp;
+                                }
+
+                                link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                            }
                         }
                     }
                 }
@@ -748,7 +752,7 @@ namespace DotRecast.Detour
                 DtPoly targetPoly = target.data.polys[targetCon.poly];
                 // Skip off-mesh connections which start location could not be
                 // connected at all.
-                if (target.polyLinks[targetPoly.index] == DT_NULL_LINK)
+                if (targetPoly.firstLink == DT_NULL_LINK)
                 {
                     continue;
                 }
@@ -789,8 +793,8 @@ namespace DotRecast.Detour
                 link.side = oppositeSide;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = target.polyLinks[targetPoly.index];
-                target.polyLinks[targetPoly.index] = idx;
+                link.next = targetPoly.firstLink;
+                targetPoly.firstLink = idx;
 
                 // Link target poly to off-mesh connection.
                 if ((targetCon.flags & DT_OFFMESH_CON_BIDIR) != 0)
@@ -804,8 +808,8 @@ namespace DotRecast.Detour
                     link.side = (side == -1 ? 0xff : side);
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = tile.polyLinks[landPoly.index];
-                    tile.polyLinks[landPoly.index] = tidx;
+                    link.next = landPoly.firstLink;
+                    landPoly.firstLink = tidx;
                 }
             }
         }
@@ -963,8 +967,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = tile.polyLinks[poly.index];
-                tile.polyLinks[poly.index] = idx;
+                link.next = poly.firstLink;
+                poly.firstLink = idx;
 
                 // Start end-point is always connect back to off-mesh connection.
                 int tidx = AllocLink(tile);
@@ -976,8 +980,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = tile.polyLinks[landPoly.index];
-                tile.polyLinks[landPoly.index] = tidx;
+                link.next = landPoly.firstLink;
+                landPoly.firstLink = tidx;
             }
         }
 
@@ -1411,7 +1415,7 @@ namespace DotRecast.Detour
             int idx0 = 0, idx1 = 1;
 
             // Find link that points to first vertex.
-            for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
+            for (int i = poly.firstLink; i != DT_NULL_LINK; i = tile.links[i].next)
             {
                 if (tile.links[i].edge == 0)
                 {
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 894e77a..2bfa491 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -302,7 +302,7 @@ namespace DotRecast.Detour
                     parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id;
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -853,7 +853,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1174,7 +1174,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1867,7 +1867,7 @@ namespace DotRecast.Detour
                     if ((curPoly.neis[j] & DT_EXT_LINK) != 0)
                     {
                         // Tile border.
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curPoly.firstLink; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             DtLink link = curTile.links[k];
                             if (link.edge == j)
@@ -2013,7 +2013,7 @@ namespace DotRecast.Detour
 
             // Find the link that points to the 'to' polygon.
             DtLink link = null;
-            for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
+            for (int i = fromPoly.firstLink; i != DT_NULL_LINK; i = fromTile.links[i].next)
             {
                 if (fromTile.links[i].refs == to)
                 {
@@ -2031,7 +2031,7 @@ namespace DotRecast.Detour
             if (fromPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
                 // Find link that points to first vertex.
-                for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
+                for (int i = fromPoly.firstLink; i != DT_NULL_LINK; i = fromTile.links[i].next)
                 {
                     if (fromTile.links[i].refs == to)
                     {
@@ -2053,7 +2053,7 @@ namespace DotRecast.Detour
 
             if (toPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
-                for (int i = toTile.polyLinks[toPoly.index]; i != DT_NULL_LINK; i = toTile.links[i].next)
+                for (int i = toPoly.firstLink; i != DT_NULL_LINK; i = toTile.links[i].next)
                 {
                     if (toTile.links[i].refs == from)
                     {
@@ -2329,7 +2329,7 @@ namespace DotRecast.Detour
                 // Follow neighbours.
                 long nextRef = 0;
 
-                for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
+                for (int i = poly.firstLink; i != DT_NULL_LINK; i = tile.links[i].next)
                 {
                     DtLink link = tile.links[i];
 
@@ -2570,7 +2570,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2747,7 +2747,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2902,7 +2902,7 @@ namespace DotRecast.Detour
                 long curRef = curNode.id;
                 m_nav.GetTileAndPolyByRefUnsafe(curRef, out var curTile, out var curPoly);
 
-                for (int i = curTile.polyLinks[curPoly.index]; i != DT_NULL_LINK; i = curTile.links[i].next)
+                for (int i = curPoly.firstLink; i != DT_NULL_LINK; i = curTile.links[i].next)
                 {
                     DtLink link = curTile.links[i];
                     long neighbourRef = link.refs;
@@ -2970,7 +2970,7 @@ namespace DotRecast.Detour
 
                         // Connected polys do not overlap.
                         bool connected = false;
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curPoly.firstLink; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             if (curTile.links[k].refs == pastRef)
                             {
@@ -3079,7 +3079,7 @@ namespace DotRecast.Detour
                 if ((poly.neis[j] & DT_EXT_LINK) != 0)
                 {
                     // Tile border.
-                    for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
+                    for (int k = poly.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                     {
                         DtLink link = tile.links[k];
                         if (link.edge == j)
@@ -3247,7 +3247,7 @@ namespace DotRecast.Detour
                     {
                         // Tile border.
                         bool solid = true;
-                        for (int k = bestTile.polyLinks[bestPoly.index]; k != DT_NULL_LINK; k = bestTile.links[k].next)
+                        for (int k = bestPoly.firstLink; k != DT_NULL_LINK; k = bestTile.links[k].next)
                         {
                             DtLink link = bestTile.links[k];
                             if (link.edge == j)
@@ -3303,7 +3303,7 @@ namespace DotRecast.Detour
                     bestvi = RcVecUtils.Create(bestTile.data.verts, vi);
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index b018467..3141ba1 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -109,7 +109,7 @@ namespace DotRecast.Detour
             }
 
 
-            for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
+            for (int k = poly.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
             {
                 DtLink link = tile.links[k];
                 if (link.refs != 0)
diff --git a/src/DotRecast.Detour/DtPoly.cs b/src/DotRecast.Detour/DtPoly.cs
index c60039d..5faa88a 100644
--- a/src/DotRecast.Detour/DtPoly.cs
+++ b/src/DotRecast.Detour/DtPoly.cs
@@ -24,8 +24,10 @@ namespace DotRecast.Detour
     /// @ingroup detour
     public class DtPoly
     {
-        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
         public readonly int index;
+        
+        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+        public int firstLink;
 
         /// The indices of the polygon's vertices.
         /// The actual vertices are located in dtMeshTile::verts.
diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index 9c4374e..5e68a52 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -202,7 +202,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -326,7 +326,7 @@ public class RecastDebugDraw : DebugDraw
                     if ((p.neis[j] & DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {

From 886afd20cd677be8253c9a7e1ba7e22e095e0f61 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 16 May 2024 00:46:05 +0900
Subject: [PATCH 032/147] reduced memory usage of DtLink.

---
 src/DotRecast.Detour/DtLink.cs    |  9 ++++-----
 src/DotRecast.Detour/DtNavMesh.cs | 18 +++++++++---------
 2 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/src/DotRecast.Detour/DtLink.cs b/src/DotRecast.Detour/DtLink.cs
index 13360e4..d0c8fa7 100644
--- a/src/DotRecast.Detour/DtLink.cs
+++ b/src/DotRecast.Detour/DtLink.cs
@@ -27,12 +27,11 @@ namespace DotRecast.Detour
     /// @see dtMeshTile
     public class DtLink
     {
-        public readonly int index; // DtMeshTile.links array index
         public long refs; //< Neighbour reference. (The neighbor that is linked to.)
         public int next; //< Index of the next link.
-        public int edge; //< Index of the polygon edge that owns this link.
-        public int side; //< If a boundary link, defines on which side the link is.
-        public int bmin; //< If a boundary link, defines the minimum sub-edge area.
-        public int bmax; //< If a boundary link, defines the maximum sub-edge area.
+        public byte edge; //< Index of the polygon edge that owns this link.
+        public byte side; //< If a boundary link, defines on which side the link is.
+        public byte bmin; //< If a boundary link, defines the minimum sub-edge area.
+        public byte bmax; //< If a boundary link, defines the maximum sub-edge area.
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index e1cc0ea..ec67835 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -587,7 +587,7 @@ namespace DotRecast.Detour
                     int idx = AllocLink(tile);
                     DtLink link = tile.links[idx];
                     link.refs = @base | (long)(poly.neis[j] - 1);
-                    link.edge = j;
+                    link.edge = (byte)j;
                     link.side = 0xff;
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
@@ -684,8 +684,8 @@ namespace DotRecast.Detour
                         {
                             DtLink link = tile.links[idx];
                             link.refs = connectPoly.refs;
-                            link.edge = j;
-                            link.side = dir;
+                            link.edge = (byte)j;
+                            link.side = (byte)dir;
 
                             link.next = poly.firstLink;
                             poly.firstLink = idx;
@@ -704,8 +704,8 @@ namespace DotRecast.Detour
                                     tmax = temp;
                                 }
 
-                                link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                                link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (byte)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
                             }
                             else if (dir == 2 || dir == 6)
                             {
@@ -720,8 +720,8 @@ namespace DotRecast.Detour
                                     tmax = temp;
                                 }
 
-                                link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                                link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (byte)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
                             }
                         }
                     }
@@ -790,7 +790,7 @@ namespace DotRecast.Detour
                 DtLink link = target.links[idx];
                 link.refs = refs;
                 link.edge = 1;
-                link.side = oppositeSide;
+                link.side = (byte)oppositeSide;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
                 link.next = targetPoly.firstLink;
@@ -805,7 +805,7 @@ namespace DotRecast.Detour
                     link = tile.links[tidx];
                     link.refs = GetPolyRefBase(target) | (long)targetCon.poly;
                     link.edge = 0xff;
-                    link.side = (side == -1 ? 0xff : side);
+                    link.side = (byte)(side == -1 ? 0xff : side);
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
                     link.next = landPoly.firstLink;

From 7212afaac6ec29f49ae6afcd46acb5e5be42c0b1 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 16 May 2024 01:09:10 +0900
Subject: [PATCH 033/147] needed by Dotrecast

---
 src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
index 50f84ba..bd1dd20 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
@@ -126,7 +126,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     header.vertCount = vertsCount;
                     header.detailMeshCount = nodeCount;
                     header.detailTriCount = nodeCount;
-                    header.maxLinkCount = nodeCount * 3 * 2; // XXX: Needed by Recast, not needed by recast4j
+                    header.maxLinkCount = nodeCount * 3 * 2; // needed by Recast, not needed by recast4j, needed by DotRecast
                     header.bmin.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x +
                                     meta.cellSize * meta.tileSizeX * x;
                     header.bmin.Y = ymin;

From 72d042b1ea4b5cb29b83184c4f03e5393bc153a4 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 17 May 2024 23:44:58 +0900
Subject: [PATCH 034/147] update CHANGELOG.md

---
 CHANGELOG.md | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a7fa4cd..1867839 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,13 +8,18 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 - Added RcSpans UnitTest
-- Added DtNavMesh.Init() interface
  
 ### Fixed
+- Nothing
+
 ### Changed
-- RcRecast, DtDetour 
- 
+- Changed class name of static functions to RcRecast and DtDetour
+- Changed DtLink class member variable type from int to byte
+- Changed initialization in DtNavMesh constructor to Init() function.
+
 ### Removed
+- Nothing
+ 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
 

From 3b5e85eeb63959d74461339332ee3c4c8424079c Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 18 May 2024 00:10:58 +0900
Subject: [PATCH 035/147] added Tile hash lookup size in DtNavMesh

---
 src/DotRecast.Detour/DtNavMesh.cs | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index ec67835..d3f2bf6 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -27,6 +27,8 @@ namespace DotRecast.Detour
 {
     using static DtDetour;
 
+    /// A navigation mesh based on tiles of convex polygons.
+    /// @ingroup detour
     public class DtNavMesh
     {
         private DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
@@ -34,6 +36,7 @@ namespace DotRecast.Detour
         private float m_tileWidth; // < Dimensions of each tile.
         private float m_tileHeight; // < Dimensions of each tile.
         private int m_maxTiles; // < Max number of tiles.
+        private int m_tileLutSize; //< Tile hash lookup size (must be pot).
         private int m_tileLutMask; // < Tile hash lookup mask.
 
         private Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
@@ -45,19 +48,24 @@ namespace DotRecast.Detour
 
         private int m_tileCount;
 
-        public DtStatus Init(DtNavMeshParams option, int maxVertsPerPoly)
+        public DtStatus Init(DtNavMeshParams param, int maxVertsPerPoly)
         {
-            m_params = option;
-            m_orig = option.orig;
-            m_tileWidth = option.tileWidth;
-            m_tileHeight = option.tileHeight;
+            m_params = param;
+            m_orig = param.orig;
+            m_tileWidth = param.tileWidth;
+            m_tileHeight = param.tileHeight;
+
             // Init tiles
-            m_maxTiles = option.maxTiles;
             m_maxVertPerPoly = maxVertsPerPoly;
-            m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
+            m_maxTiles = param.maxTiles;
+            m_tileLutSize = DtUtils.NextPow2(param.maxTiles);
+            if (0 == m_tileLutSize)
+                m_tileLutSize = 1;
+            m_tileLutMask = m_tileLutSize - 1;
+            
+            m_tiles = new DtMeshTile[m_maxTiles];
             m_posLookup = new Dictionary<int, List<DtMeshTile>>();
             m_nextFree = new LinkedList<DtMeshTile>();
-            m_tiles = new DtMeshTile[m_maxTiles];
             for (int i = 0; i < m_maxTiles; i++)
             {
                 m_tiles[i] = new DtMeshTile(i);

From 0ce8ffba32cb6623dabf1f1fac86c3288f55a159 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 18 May 2024 09:26:07 +0900
Subject: [PATCH 036/147] release 2024.2.2

---
 CHANGELOG.md | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1867839..eb6df2f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,24 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased] - yyyy-mm-dd
 
+### Added
+- Nothing
+
+### Fixed
+- Nothing
+
+### Changed
+- Nothing
+
+### Removed
+- Nothing
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+ 
+## [2024.2.2] - 2024-05-18
+
 ### Added
 - Added RcSpans UnitTest
  

From 3808c1387672e7c5e379eaf6444751fa176a8197 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 18 May 2024 14:49:18 +0900
Subject: [PATCH 037/147] Changed `IDtPolyQuery` interface to make `Process()`
 more versatile

---
 CHANGELOG.md                                  |  2 +-
 .../Jumplink/NavMeshGroundSampler.cs          | 16 +++--
 .../Jumplink/PolyQueryInvoker.cs              |  8 +--
 .../DtFindNearestPolyQuery.cs                 | 63 ++++++++++---------
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 44 +++++++++++--
 src/DotRecast.Detour/IDtPolyQuery.cs          |  7 ++-
 .../FindNearestPolyTest.cs                    | 10 +--
 7 files changed, 100 insertions(+), 50 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index eb6df2f..9b7b35d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,7 +13,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Changed
-- Nothing
+- Changed `IDtPolyQuery` interface to make `Process()` more versatile
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index 7c9f3d9..ab9364e 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -55,15 +55,19 @@ namespace DotRecast.Detour.Extras.Jumplink
             RcAtomicBoolean found = new RcAtomicBoolean();
             RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
 
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new PolyQueryInvoker((tile, poly, refs) =>
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new PolyQueryInvoker((tile, poly, refs, count) =>
             {
-                var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
-                if (status.Succeeded())
+                for (int i = 0; i < count; ++i)
                 {
-                    if (h > minHeight.Get() && h < maxHeight)
+                    var status = navMeshQuery.GetPolyHeight(refs[i], pt, out var h);
+                    if (status.Succeeded())
                     {
-                        minHeight.Exchange(h);
-                        found.Set(true);
+                        if (h > minHeight.Get() && h < maxHeight)
+                        {
+                            minHeight.Exchange(h);
+                            found.Set(true);
+                            return;
+                        }
                     }
                 }
             }));
diff --git a/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs b/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs
index 3ea5b9b..245b321 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs
@@ -4,16 +4,16 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class PolyQueryInvoker : IDtPolyQuery
     {
-        public readonly Action<DtMeshTile, DtPoly, long> _callback;
+        private readonly Action<DtMeshTile, DtPoly[], long[], int> _callback;
 
-        public PolyQueryInvoker(Action<DtMeshTile, DtPoly, long> callback)
+        public PolyQueryInvoker(Action<DtMeshTile, DtPoly[], long[], int> callback)
         {
             _callback = callback;
         }
 
-        public void Process(DtMeshTile tile, DtPoly poly, long refs)
+        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
         {
-            _callback?.Invoke(tile, poly, refs);
+            _callback?.Invoke(tile, poly, refs, count);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtFindNearestPolyQuery.cs b/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
index 3aed2aa..ec3d62c 100644
--- a/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
+++ b/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
@@ -7,44 +7,49 @@ namespace DotRecast.Detour
     {
         private readonly DtNavMeshQuery _query;
         private readonly RcVec3f _center;
-        private long _nearestRef;
-        private RcVec3f _nearestPt;
-        private bool _overPoly;
         private float _nearestDistanceSqr;
+        private long _nearestRef;
+        private RcVec3f _nearestPoint;
+        private bool _overPoly;
 
         public DtFindNearestPolyQuery(DtNavMeshQuery query, RcVec3f center)
         {
-            this._query = query;
-            this._center = center;
+            _query = query;
+            _center = center;
             _nearestDistanceSqr = float.MaxValue;
-            _nearestPt = center;
+            _nearestPoint = center;
         }
 
-        public void Process(DtMeshTile tile, DtPoly poly, long refs)
+        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
         {
-            // Find nearest polygon amongst the nearby polygons.
-            _query.ClosestPointOnPoly(refs, _center, out var closestPtPoly, out var posOverPoly);
+            for (int i = 0; i < count; ++i)
+            {
+                long polyRef = refs[i];
+                float d;
+                
+                // Find nearest polygon amongst the nearby polygons.
+                _query.ClosestPointOnPoly(polyRef, _center, out var closestPtPoly, out var posOverPoly);
 
-            // If a point is directly over a polygon and closer than
-            // climb height, favor that instead of straight line nearest point.
-            float d = 0;
-            RcVec3f diff = RcVec3f.Subtract(_center, closestPtPoly);
-            if (posOverPoly)
-            {
-                d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb;
-                d = d > 0 ? d * d : 0;
-            }
-            else
-            {
-                d = diff.LengthSquared();
-            }
+                // If a point is directly over a polygon and closer than
+                // climb height, favor that instead of straight line nearest point.
+                RcVec3f diff = RcVec3f.Subtract(_center, closestPtPoly);
+                if (posOverPoly)
+                {
+                    d = MathF.Abs(diff.Y) - tile.data.header.walkableClimb;
+                    d = d > 0 ? d * d : 0;
+                }
+                else
+                {
+                    d = diff.LengthSquared();
+                }
 
-            if (d < _nearestDistanceSqr)
-            {
-                _nearestPt = closestPtPoly;
-                _nearestDistanceSqr = d;
-                _nearestRef = refs;
-                _overPoly = posOverPoly;
+                if (d < _nearestDistanceSqr)
+                {
+                    _nearestPoint = closestPtPoly;
+                    _nearestDistanceSqr = d;
+                    _nearestRef = polyRef;
+                    _overPoly = posOverPoly;
+                }
             }
         }
 
@@ -55,7 +60,7 @@ namespace DotRecast.Detour
 
         public RcVec3f NearestPt()
         {
-            return _nearestPt;
+            return _nearestPoint;
         }
 
         public bool OverPoly()
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 2bfa491..f9e089d 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
@@ -575,15 +576,22 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
-        // FIXME: (PP) duplicate?
+        /// Queries polygons within a tile.
         protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query)
         {
+            const int batchSize = 32;
+            long[] polyRefs = new long[batchSize];
+            DtPoly[] polys = new DtPoly[batchSize];
+            int n = 0;
+
             if (tile.data.bvTree != null)
             {
                 int nodeIndex = 0;
+                int end = tile.data.header.bvNodeCount;
                 var tbmin = tile.data.header.bmin;
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
+                
                 // Calculate quantized box
                 Span<int> bmin = stackalloc int[3];
                 Span<int> bmax = stackalloc int[3];
@@ -604,7 +612,6 @@ namespace DotRecast.Detour
 
                 // Traverse tree
                 long @base = m_nav.GetPolyRefBase(tile);
-                int end = tile.data.header.bvNodeCount;
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
@@ -616,7 +623,18 @@ namespace DotRecast.Detour
                         long refs = @base | (long)node.i;
                         if (filter.PassFilter(refs, tile, tile.data.polys[node.i]))
                         {
-                            query.Process(tile, tile.data.polys[node.i], refs);
+                            polyRefs[n] = refs;
+                            polys[n] = tile.data.polys[node.i];
+                            
+                            if (n == batchSize - 1)
+                            {
+                                query.Process(tile, polys, polyRefs, batchSize);
+                                n = 0;
+                            }
+                            else
+                            {
+                                n++;
+                            }
                         }
                     }
 
@@ -645,6 +663,7 @@ namespace DotRecast.Detour
                         continue;
                     }
 
+                    // Must pass filter
                     long refs = @base | (long)i;
                     if (!filter.PassFilter(refs, tile, p))
                     {
@@ -664,10 +683,27 @@ namespace DotRecast.Detour
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
                     {
-                        query.Process(tile, p, refs);
+                        polyRefs[n] = refs;
+                        polys[n] = p;
+
+                        if (n == batchSize - 1)
+                        {
+                            query.Process(tile, polys, polyRefs, batchSize);
+                            n = 0;
+                        }
+                        else
+                        {
+                            n++;
+                        }
                     }
                 }
             }
+
+            // Process the last polygons that didn't make a full batch.
+            if (n > 0)
+            {
+                query.Process(tile, polys, polyRefs, n);
+            }
         }
 
         /**
diff --git a/src/DotRecast.Detour/IDtPolyQuery.cs b/src/DotRecast.Detour/IDtPolyQuery.cs
index 56fb244..0baf9c5 100644
--- a/src/DotRecast.Detour/IDtPolyQuery.cs
+++ b/src/DotRecast.Detour/IDtPolyQuery.cs
@@ -1,7 +1,12 @@
 namespace DotRecast.Detour
 {
+    /// Provides custom polygon query behavior.
+    /// Used by dtNavMeshQuery::queryPolygons.
+    /// @ingroup detour
     public interface IDtPolyQuery
     {
-        void Process(DtMeshTile tile, DtPoly poly, long refs);
+        /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
+        /// This can be called multiple times for a single query.
+        void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count);
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
index bf47916..2f662dc 100644
--- a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
+++ b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
@@ -44,11 +44,11 @@ public class FindNearestPolyTest : AbstractDetourTest
         {
             RcVec3f startPos = startPoss[i];
             var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
-            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
-            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f));
-            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f));
-            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f));
+            Assert.That(status.Succeeded(), Is.True, $"index({i})");
+            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]), $"index({i})");
+            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f), $"index({i})");
         }
     }
 

From c9a54d4b4e462031f33fa258ccc5901be518f363 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 19 May 2024 09:16:25 +0900
Subject: [PATCH 038/147] Added `DtCollectPolysQuery` and `FindCollectPolyTest`

---
 CHANGELOG.md                                  |  3 +-
 .../Jumplink/NavMeshGroundSampler.cs          |  2 +-
 .../DtCallbackPolyQuery.cs}                   |  6 +-
 src/DotRecast.Detour/DtCollectPolysQuery.cs   | 42 ++++++++++++
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 65 ++++++++++++++----
 .../FindCollectPolyTest.cs                    | 68 +++++++++++++++++++
 .../FindNearestPolyTest.cs                    |  6 +-
 7 files changed, 170 insertions(+), 22 deletions(-)
 rename src/{DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs => DotRecast.Detour/DtCallbackPolyQuery.cs} (64%)
 create mode 100644 src/DotRecast.Detour/DtCollectPolysQuery.cs
 create mode 100644 test/DotRecast.Detour.Test/FindCollectPolyTest.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9b7b35d..664b2ab 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,13 +7,14 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased] - yyyy-mm-dd
 
 ### Added
-- Nothing
+- Added `DtCollectPolysQuery` and `FindCollectPolyTest`
 
 ### Fixed
 - Nothing
 
 ### Changed
 - Changed `IDtPolyQuery` interface to make `Process()` more versatile
+- Changed `PolyQueryInvoker` to `DtActionPolyQuery`
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index ab9364e..93085ca 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -55,7 +55,7 @@ namespace DotRecast.Detour.Extras.Jumplink
             RcAtomicBoolean found = new RcAtomicBoolean();
             RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
 
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new PolyQueryInvoker((tile, poly, refs, count) =>
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs, count) =>
             {
                 for (int i = 0; i < count; ++i)
                 {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
similarity index 64%
rename from src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs
rename to src/DotRecast.Detour/DtCallbackPolyQuery.cs
index 245b321..79d9c31 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/PolyQueryInvoker.cs
+++ b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
@@ -1,12 +1,12 @@
 using System;
 
-namespace DotRecast.Detour.Extras.Jumplink
+namespace DotRecast.Detour
 {
-    public class PolyQueryInvoker : IDtPolyQuery
+    public class DtCallbackPolyQuery : IDtPolyQuery
     {
         private readonly Action<DtMeshTile, DtPoly[], long[], int> _callback;
 
-        public PolyQueryInvoker(Action<DtMeshTile, DtPoly[], long[], int> callback)
+        public DtCallbackPolyQuery(Action<DtMeshTile, DtPoly[], long[], int> callback)
         {
             _callback = callback;
         }
diff --git a/src/DotRecast.Detour/DtCollectPolysQuery.cs b/src/DotRecast.Detour/DtCollectPolysQuery.cs
new file mode 100644
index 0000000..31acaac
--- /dev/null
+++ b/src/DotRecast.Detour/DtCollectPolysQuery.cs
@@ -0,0 +1,42 @@
+using DotRecast.Core;
+
+namespace DotRecast.Detour
+{
+    public class DtCollectPolysQuery : IDtPolyQuery
+    {
+        private long[] m_polys;
+        private int m_maxPolys;
+        private int m_numCollected;
+        private bool m_overflow;
+
+        public DtCollectPolysQuery(long[] polys, int maxPolys)
+        {
+            m_polys = polys;
+            m_maxPolys = maxPolys;
+        }
+
+        public int NumCollected()
+        {
+            return m_numCollected;
+        }
+
+        public bool Overflowed()
+        {
+            return m_overflow;
+        }
+
+        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
+        {
+            int numLeft = m_maxPolys - m_numCollected;
+            int toCopy = count;
+            if (toCopy > numLeft)
+            {
+                m_overflow = true;
+                toCopy = numLeft;
+            }
+
+            RcSpans.Copy<long>(refs, 0, m_polys, m_numCollected, toCopy);
+            m_numCollected += toCopy;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index f9e089d..e815fd3 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -591,7 +591,7 @@ namespace DotRecast.Detour
                 var tbmin = tile.data.header.bmin;
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
-                
+
                 // Calculate quantized box
                 Span<int> bmin = stackalloc int[3];
                 Span<int> bmax = stackalloc int[3];
@@ -625,7 +625,7 @@ namespace DotRecast.Detour
                         {
                             polyRefs[n] = refs;
                             polys[n] = tile.data.polys[node.i];
-                            
+
                             if (n == batchSize - 1)
                             {
                                 query.Process(tile, polys, polyRefs, batchSize);
@@ -706,19 +706,54 @@ namespace DotRecast.Detour
             }
         }
 
-        /**
-     * Finds polygons that overlap the search box.
-     *
-     * If no polygons are found, the function will return with a polyCount of zero.
-     *
-     * @param center
-     *            The center of the search box. [(x, y, z)]
-     * @param halfExtents
-     *            The search distance along each axis. [(x, y, z)]
-     * @param filter
-     *            The polygon filter to apply to the query.
-     * @return The reference ids of the polygons that overlap the query box.
-     */
+        /// @par 
+        ///
+        /// If no polygons are found, the function will return #DT_SUCCESS with a
+        /// @p polyCount of zero.
+        ///
+        /// If @p polys is too small to hold the entire result set, then the array will 
+        /// be filled to capacity. The method of choosing which polygons from the 
+        /// full set are included in the partial result set is undefined.
+        ///
+        /// Finds polygons that overlap the search box.
+        ///  @param[in]		center		The center of the search box. [(x, y, z)]
+        ///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
+        ///  @param[in]		filter		The polygon filter to apply to the query.
+        ///  @param[out]	polys		The reference ids of the polygons that overlap the query box.
+        ///  @param[out]	polyCount	The number of polygons in the search result.
+        ///  @param[in]		maxPolys	The maximum number of polygons the search result can hold.
+        /// @returns The status flags for the query.
+        public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents,
+            IDtQueryFilter filter,
+            long[] polys, out int polyCount, int maxPolys)
+        {
+            polyCount = 0;
+            if (null == polys || maxPolys < 0)
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+
+            DtCollectPolysQuery collector = new DtCollectPolysQuery(polys, maxPolys);
+            DtStatus status = QueryPolygons(center, halfExtents, filter, collector);
+            if (status.Failed())
+                return status;
+
+            polyCount = collector.NumCollected();
+            return collector.Overflowed()
+                ? DtStatus.DT_SUCCESS | DtStatus.DT_BUFFER_TOO_SMALL
+                : DtStatus.DT_SUCCESS;
+        }
+
+        /// @par 
+        ///
+        /// The query will be invoked with batches of polygons. Polygons passed
+        /// to the query have bounding boxes that overlap with the center and halfExtents
+        /// passed to this function. The dtPolyQuery::process function is invoked multiple
+        /// times until all overlapping polygons have been processed.
+        ///
+        /// Finds polygons that overlap the search box.
+        ///  @param[in]		center		The center of the search box. [(x, y, z)]
+        ///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
+        ///  @param[in]		filter		The polygon filter to apply to the query.
+        ///  @param[in]		query		The query. Polygons found will be batched together and passed to this query.
         public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, IDtPolyQuery query)
         {
             if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter)
diff --git a/test/DotRecast.Detour.Test/FindCollectPolyTest.cs b/test/DotRecast.Detour.Test/FindCollectPolyTest.cs
new file mode 100644
index 0000000..1b7b8a5
--- /dev/null
+++ b/test/DotRecast.Detour.Test/FindCollectPolyTest.cs
@@ -0,0 +1,68 @@
+using System;
+using System.Linq;
+using DotRecast.Core.Numerics;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class FindCollectPolyTest : AbstractDetourTest
+{
+    private static readonly long[][] POLY_REFS =
+    {
+        new long[]
+        {
+            281474976710697L,
+            281474976710695L,
+            281474976710696L,
+            281474976710691L,
+        },
+        new long[]
+        {
+            281474976710769L,
+            281474976710773L,
+        },
+        new long[]
+        {
+            281474976710676L,
+            281474976710678L,
+            281474976710679L,
+            281474976710674L,
+            281474976710677L,
+            281474976710683L,
+            281474976710680L,
+            281474976710684L,
+        },
+
+        new long[]
+        {
+            281474976710748L,
+            281474976710753L,
+            281474976710752L,
+            281474976710750L,
+        },
+
+        new long[]
+        {
+            281474976710736L,
+            281474976710733L,
+            281474976710735L,
+        }
+    };
+
+    [Test]
+    public void TestFindNearestPoly()
+    {
+        IDtQueryFilter filter = new DtQueryDefaultFilter();
+        RcVec3f extents = new RcVec3f(2, 4, 2);
+        var polys = new long[32];
+        for (int i = 0; i < startRefs.Length; i++)
+        {
+            Array.Fill(polys, 0);
+            RcVec3f startPos = startPoss[i];
+            var status = query.QueryPolygons(startPos, extents, filter, polys, out var polyCount, 32);
+            Assert.That(status.Succeeded(), Is.True, $"index({i})");
+            Assert.That(polyCount, Is.EqualTo(POLY_REFS[i].Length), $"index({i})");
+            Assert.That(polys.AsSpan(0, polyCount).ToArray(), Is.EqualTo(POLY_REFS[i]), $"index({i})");
+        }
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
index 2f662dc..2f6a25a 100644
--- a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
+++ b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
@@ -21,10 +21,12 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class FindNearestPolyTest : AbstractDetourTest
 {
-    private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
+    private static readonly long[] POLY_REFS =
+    {
+        281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L
+    };
 
     private static readonly RcVec3f[] POLY_POS =
     {

From ec9ebe28b94545d098e5da8cfd1440313f853c14 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 20 May 2024 00:16:36 +0900
Subject: [PATCH 039/147] long[] -> Span<long>

---
 .../Jumplink/NavMeshGroundSampler.cs             | 16 ++++++----------
 src/DotRecast.Detour/DtCallbackPolyQuery.cs      | 11 +++++++----
 src/DotRecast.Detour/DtCollectPolysQuery.cs      |  5 +++--
 src/DotRecast.Detour/DtFindNearestPolyQuery.cs   |  2 +-
 src/DotRecast.Detour/DtNavMeshQuery.cs           |  2 +-
 src/DotRecast.Detour/IDtPolyQuery.cs             |  4 +++-
 6 files changed, 21 insertions(+), 19 deletions(-)

diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index 93085ca..5a62246 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -55,19 +55,15 @@ namespace DotRecast.Detour.Extras.Jumplink
             RcAtomicBoolean found = new RcAtomicBoolean();
             RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
 
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs, count) =>
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs) =>
             {
-                for (int i = 0; i < count; ++i)
+                var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
+                if (status.Succeeded())
                 {
-                    var status = navMeshQuery.GetPolyHeight(refs[i], pt, out var h);
-                    if (status.Succeeded())
+                    if (h > minHeight.Get() && h < maxHeight)
                     {
-                        if (h > minHeight.Get() && h < maxHeight)
-                        {
-                            minHeight.Exchange(h);
-                            found.Set(true);
-                            return;
-                        }
+                        minHeight.Exchange(h);
+                        found.Set(true);
                     }
                 }
             }));
diff --git a/src/DotRecast.Detour/DtCallbackPolyQuery.cs b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
index 79d9c31..088b366 100644
--- a/src/DotRecast.Detour/DtCallbackPolyQuery.cs
+++ b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
@@ -4,16 +4,19 @@ namespace DotRecast.Detour
 {
     public class DtCallbackPolyQuery : IDtPolyQuery
     {
-        private readonly Action<DtMeshTile, DtPoly[], long[], int> _callback;
+        private readonly Action<DtMeshTile, DtPoly, long> _callback;
 
-        public DtCallbackPolyQuery(Action<DtMeshTile, DtPoly[], long[], int> callback)
+        public DtCallbackPolyQuery(Action<DtMeshTile, DtPoly, long> callback)
         {
             _callback = callback;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
-            _callback?.Invoke(tile, poly, refs, count);
+            for (int i = 0; i < count; ++i)
+            {
+                _callback?.Invoke(tile, poly[i], refs[i]);
+            }
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtCollectPolysQuery.cs b/src/DotRecast.Detour/DtCollectPolysQuery.cs
index 31acaac..4b5c998 100644
--- a/src/DotRecast.Detour/DtCollectPolysQuery.cs
+++ b/src/DotRecast.Detour/DtCollectPolysQuery.cs
@@ -1,4 +1,5 @@
-using DotRecast.Core;
+using System;
+using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
@@ -25,7 +26,7 @@ namespace DotRecast.Detour
             return m_overflow;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
             int numLeft = m_maxPolys - m_numCollected;
             int toCopy = count;
diff --git a/src/DotRecast.Detour/DtFindNearestPolyQuery.cs b/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
index ec3d62c..b0c4cf1 100644
--- a/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
+++ b/src/DotRecast.Detour/DtFindNearestPolyQuery.cs
@@ -20,7 +20,7 @@ namespace DotRecast.Detour
             _nearestPoint = center;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
             for (int i = 0; i < count; ++i)
             {
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index e815fd3..040eb5d 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -580,7 +580,7 @@ namespace DotRecast.Detour
         protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query)
         {
             const int batchSize = 32;
-            long[] polyRefs = new long[batchSize];
+            Span<long> polyRefs = stackalloc long[batchSize];
             DtPoly[] polys = new DtPoly[batchSize];
             int n = 0;
 
diff --git a/src/DotRecast.Detour/IDtPolyQuery.cs b/src/DotRecast.Detour/IDtPolyQuery.cs
index 0baf9c5..890d171 100644
--- a/src/DotRecast.Detour/IDtPolyQuery.cs
+++ b/src/DotRecast.Detour/IDtPolyQuery.cs
@@ -1,3 +1,5 @@
+using System;
+
 namespace DotRecast.Detour
 {
     /// Provides custom polygon query behavior.
@@ -7,6 +9,6 @@ namespace DotRecast.Detour
     {
         /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
         /// This can be called multiple times for a single query.
-        void Process(DtMeshTile tile, DtPoly[] poly, long[] refs, int count);
+        void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count);
     }
 }
\ No newline at end of file

From 8f8db51542cb5dc77012a40d600c1dc56fb01f74 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 21 May 2024 00:10:24 +0900
Subject: [PATCH 040/147]  Changed `DtTileCacheBuilder` to a static class

---
 CHANGELOG.md                                  |  4 +-
 src/DotRecast.Detour.TileCache/DtTileCache.cs | 19 ++--
 .../DtTileCacheBuilder.cs                     | 96 +++++++++----------
 .../DtTileCacheLayerBuilder.cs                |  2 +-
 .../Io/DtTileCacheLayerHeaderReader.cs        |  6 +-
 .../Io/DtTileCacheWriter.cs                   |  2 +-
 6 files changed, 64 insertions(+), 65 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 664b2ab..3f8fdef 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,7 +15,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Changed
 - Changed `IDtPolyQuery` interface to make `Process()` more versatile
 - Changed `PolyQueryInvoker` to `DtActionPolyQuery`
-
+- Changed `DtTileCacheBuilder` to a static class
+- Changed `DtTileCacheLayerHeaderReader` to a static class
+ 
 ### Removed
 - Nothing
 
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index 9f5d394..6423305 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -54,7 +54,6 @@ namespace DotRecast.Detour.TileCache
         private readonly List<long> m_update = new List<long>();
 
         private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
-        private readonly DtTileCacheLayerHeaderReader tileReader = new DtTileCacheLayerHeaderReader();
 
         public DtTileCache(DtTileCacheParams option, DtTileCacheStorageParams storageParams, DtNavMesh navmesh, IRcCompressor tcomp, IDtTileCacheMeshProcess tmprocs)
         {
@@ -245,7 +244,7 @@ namespace DotRecast.Detour.TileCache
             // Make sure the data is in right format.
             RcByteBuffer buf = new RcByteBuffer(data);
             buf.Order(m_storageParams.Order);
-            DtTileCacheLayerHeader header = tileReader.Read(buf, m_storageParams.Compatibility);
+            DtTileCacheLayerHeader header = DtTileCacheLayerHeaderReader.Read(buf, m_storageParams.Compatibility);
             // Make sure the location is free.
             if (GetTileAt(header.tx, header.ty, header.tlayer) != null)
             {
@@ -617,24 +616,24 @@ namespace DotRecast.Detour.TileCache
                 {
                     if (ob.type == DtTileCacheObstacleType.CYLINDER)
                     {
-                        builder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
+                        DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
                     }
                     else if (ob.type == DtTileCacheObstacleType.BOX)
                     {
-                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
                     }
                     else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
                     {
-                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
                     }
                 }
             }
 
             // Build navmesh
-            builder.BuildTileCacheRegions(layer, walkableClimbVx);
-            DtTileCacheContourSet lcset = builder.BuildTileCacheContours(layer, walkableClimbVx,
-                m_params.maxSimplificationError);
-            DtTileCachePolyMesh polyMesh = builder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
+            DtTileCacheBuilder.BuildTileCacheRegions(layer, walkableClimbVx);
+            DtTileCacheContourSet lcset = DtTileCacheBuilder.BuildTileCacheContours(layer, walkableClimbVx, m_params.maxSimplificationError);
+            DtTileCachePolyMesh polyMesh = DtTileCacheBuilder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
+
             // Early out if the mesh tile is empty.
             if (polyMesh.npolys == 0)
             {
@@ -678,7 +677,7 @@ namespace DotRecast.Detour.TileCache
 
         public DtTileCacheLayer DecompressTile(DtCompressedTile tile)
         {
-            DtTileCacheLayer layer = builder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
+            DtTileCacheLayer layer = DtTileCacheBuilder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
             return layer;
         }
 
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 6240854..d73905c 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -37,9 +37,7 @@ namespace DotRecast.Detour.TileCache
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
 
-        private readonly DtTileCacheLayerHeaderReader reader = new DtTileCacheLayerHeaderReader();
-
-        public void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
+        public static void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -247,7 +245,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        void AddUniqueLast(List<int> a, int v)
+        public static void AddUniqueLast(List<int> a, int v)
         {
             int n = a.Count;
             if (n > 0 && a[n - 1] == v)
@@ -255,7 +253,7 @@ namespace DotRecast.Detour.TileCache
             a.Add(v);
         }
 
-        bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
+        public static bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
         {
             if (layer.areas[ia] != layer.areas[ib])
                 return false;
@@ -264,7 +262,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
+        public static bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
         {
             int count = 0;
             for (int i = 0; i < nregs; ++i)
@@ -282,7 +280,7 @@ namespace DotRecast.Detour.TileCache
             return count == 1;
         }
 
-        private void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
+        public static void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
         {
             // Try to merge with existing segments.
             if (cont.nverts > 1)
@@ -316,7 +314,7 @@ namespace DotRecast.Detour.TileCache
             cont.nverts++;
         }
 
-        private int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
+        public static int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
         {
             int w = layer.header.width;
             int ia = ax + ay * w;
@@ -339,17 +337,17 @@ namespace DotRecast.Detour.TileCache
             return layer.regs[ib];
         }
 
-        private int GetDirOffsetX(int dir)
+        public static int GetDirOffsetX(int dir)
         {
             return DirOffsetX[dir & 0x03];
         }
 
-        private int GetDirOffsetY(int dir)
+        public static int GetDirOffsetY(int dir)
         {
             return DirOffsetY[dir & 0x03];
         }
 
-        private void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
+        public static void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -434,7 +432,7 @@ namespace DotRecast.Detour.TileCache
                 cont.nverts--;
         }
 
-        private float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
+        public static float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
         {
             float pqx = qx - px;
             float pqz = qz - pz;
@@ -455,7 +453,7 @@ namespace DotRecast.Detour.TileCache
             return dx * dx + dz * dz;
         }
 
-        private void SimplifyContour(DtTempContour cont, float maxError)
+        public static void SimplifyContour(DtTempContour cont, float maxError)
         {
             cont.poly.Clear();
 
@@ -584,7 +582,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
+        public static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -634,7 +632,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // TODO: move this somewhere else, once the layer meshing is done.
-        public DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
+        public static DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -711,7 +709,7 @@ namespace DotRecast.Detour.TileCache
 
         const uint VERTEX_BUCKET_COUNT2 = (1 << 8);
 
-        private int ComputeVertexHash2(int x, int y, int z)
+        public static int ComputeVertexHash2(int x, int y, int z)
         {
             uint h1 = 0x8da6b343; // Large multiplicative constants;
             uint h2 = 0xd8163841; // here arbitrarily chosen primes
@@ -720,7 +718,7 @@ namespace DotRecast.Detour.TileCache
             return (int)(n & (VERTEX_BUCKET_COUNT2 - 1));
         }
 
-        private int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
+        public static int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
         {
             int bucket = ComputeVertexHash2(x, 0, z);
             int i = firstVert[bucket];
@@ -743,7 +741,7 @@ namespace DotRecast.Detour.TileCache
             return i;
         }
 
-        private void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
+        public static void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
             int maxVertsPerPoly)
         {
             // Based on code by Eric Lengyel from:
@@ -954,22 +952,22 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        private bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
+        public static bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
         {
             return (amin >= bmax || amax <= bmin) ? false : true;
         }
 
-        private int Prev(int i, int n)
+        public static int Prev(int i, int n)
         {
             return i - 1 >= 0 ? i - 1 : n - 1;
         }
 
-        private int Next(int i, int n)
+        public static int Next(int i, int n)
         {
             return i + 1 < n ? i + 1 : 0;
         }
 
-        private int Area2(int[] verts, int a, int b, int c)
+        public static int Area2(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                    - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]);
@@ -977,17 +975,17 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff c is strictly to the left of the directed
         // line through a to b.
-        private bool Left(int[] verts, int a, int b, int c)
+        public static bool Left(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) < 0;
         }
 
-        private bool LeftOn(int[] verts, int a, int b, int c)
+        public static bool LeftOn(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) <= 0;
         }
 
-        private bool Collinear(int[] verts, int a, int b, int c)
+        public static bool Collinear(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) == 0;
         }
@@ -995,7 +993,7 @@ namespace DotRecast.Detour.TileCache
         // Returns true iff ab properly intersects cd: they share
         // a point interior to both segments. The properness of the
         // intersection is ensured by using strict leftness.
-        private bool IntersectProp(int[] verts, int a, int b, int c, int d)
+        public static bool IntersectProp(int[] verts, int a, int b, int c, int d)
         {
             // Eliminate improper cases.
             if (Collinear(verts, a, b, c) || Collinear(verts, a, b, d) || Collinear(verts, c, d, a)
@@ -1007,7 +1005,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (a,b,c) are collinear and point c lies
         // on the closed segment ab.
-        private bool Between(int[] verts, int a, int b, int c)
+        public static bool Between(int[] verts, int a, int b, int c)
         {
             if (!Collinear(verts, a, b, c))
                 return false;
@@ -1021,7 +1019,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // Returns true iff segments ab and cd intersect, properly or improperly.
-        private bool Intersect(int[] verts, int a, int b, int c, int d)
+        public static bool Intersect(int[] verts, int a, int b, int c, int d)
         {
             if (IntersectProp(verts, a, b, c, d))
                 return true;
@@ -1032,14 +1030,14 @@ namespace DotRecast.Detour.TileCache
                 return false;
         }
 
-        private bool Vequal(int[] verts, int a, int b)
+        public static bool Vequal(int[] verts, int a, int b)
         {
             return verts[a] == verts[b] && verts[a + 2] == verts[b + 2];
         }
 
         // Returns T iff (v_i, v_j) is a proper internal *or* external
         // diagonal of P, *ignoring edges incident to v_i and v_j*.
-        private bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
         {
             int d0 = (indices[i] & 0x7fff) * 4;
             int d1 = (indices[j] & 0x7fff) * 4;
@@ -1067,7 +1065,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff the diagonal (i,j) is strictly internal to the
         // polygon P in the neighborhood of the i endpoint.
-        private bool InCone(int i, int j, int n, int[] verts, int[] indices)
+        public static bool InCone(int i, int j, int n, int[] verts, int[] indices)
         {
             int pi = (indices[i] & 0x7fff) * 4;
             int pj = (indices[j] & 0x7fff) * 4;
@@ -1084,12 +1082,12 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (v_i, v_j) is a proper internal
         // diagonal of P.
-        private bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
         {
             return InCone(i, j, n, verts, indices) && Diagonalie(i, j, n, verts, indices);
         }
 
-        private int Triangulate(int n, int[] verts, int[] indices, int[] tris)
+        public static int Triangulate(int n, int[] verts, int[] indices, int[] tris)
         {
             int ntris = 0;
             int dst = 0; // tris;
@@ -1174,7 +1172,7 @@ namespace DotRecast.Detour.TileCache
             return ntris;
         }
 
-        private int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
+        public static int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
         {
             for (int i = 0; i < maxVertsPerPoly; ++i)
                 if (polys[p + i] == DT_TILECACHE_NULL_IDX)
@@ -1182,13 +1180,13 @@ namespace DotRecast.Detour.TileCache
             return maxVertsPerPoly;
         }
 
-        private bool Uleft(int[] verts, int a, int b, int c)
+        public static bool Uleft(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                 - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]) < 0;
         }
 
-        private int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
+        public static int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
         {
             ea = 0;
             eb = 0;
@@ -1259,7 +1257,7 @@ namespace DotRecast.Detour.TileCache
             return (dx * dx) + (dy * dy);
         }
 
-        private void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
+        public static void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
         {
             int[] tmp = new int[maxVertsPerPoly * 2];
 
@@ -1278,19 +1276,19 @@ namespace DotRecast.Detour.TileCache
             RcArrays.Copy(tmp, 0, polys, pa, maxVertsPerPoly);
         }
 
-        private int PushFront(int v, List<int> arr)
+        public static int PushFront(int v, List<int> arr)
         {
             arr.Insert(0, v);
             return arr.Count;
         }
 
-        private int PushBack(int v, List<int> arr)
+        public static int PushBack(int v, List<int> arr)
         {
             arr.Add(v);
             return arr.Count;
         }
 
-        private bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
+        public static bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1388,7 +1386,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        private void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
+        public static void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1627,7 +1625,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
+        public static DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
         {
             int maxVertices = 0;
             int maxTris = 0;
@@ -1801,7 +1799,7 @@ namespace DotRecast.Detour.TileCache
             return mesh;
         }
 
-        public void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
+        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
         {
             RcVec3f bmin = new RcVec3f();
             RcVec3f bmax = new RcVec3f();
@@ -1862,7 +1860,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -1906,7 +1904,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
+        public static byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1933,7 +1931,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
+        public static byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1960,14 +1958,14 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
+        public static DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
         {
             RcByteBuffer buf = new RcByteBuffer(compressed);
             buf.Order(order);
             DtTileCacheLayer layer = new DtTileCacheLayer();
             try
             {
-                layer.header = reader.Read(buf, cCompatibility);
+                layer.header = DtTileCacheLayerHeaderReader.Read(buf, cCompatibility);
             }
             catch (IOException e)
             {
@@ -1990,7 +1988,7 @@ namespace DotRecast.Detour.TileCache
             return layer;
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
             float[] rotAux, int areaId)
         {
             int w = layer.header.width;
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
index 269de2a..bd172d1 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
@@ -128,7 +128,7 @@ namespace DotRecast.Detour.TileCache
                     header.hmax = layer.hmax;
 
                     var comp = _compFactory.Create(storageParams.Compatibility ? 0 : 1);
-                    var bytes = builder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
+                    var bytes = DtTileCacheBuilder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
                     result.Add(bytes);
                 }
             }
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
index 739c785..2ba481f 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
@@ -23,9 +23,9 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderReader
+    public static class DtTileCacheLayerHeaderReader
     {
-        public DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
+        public static DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
         {
             DtTileCacheLayerHeader header = new DtTileCacheLayerHeader();
             header.magic = data.GetInt();
@@ -39,7 +39,7 @@ namespace DotRecast.Detour.TileCache.Io
             header.tx = data.GetInt();
             header.ty = data.GetInt();
             header.tlayer = data.GetInt();
-            
+
             header.bmin.X = data.GetFloat();
             header.bmin.Y = data.GetFloat();
             header.bmin.Z = data.GetFloat();
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
index f68a57f..2268263 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
@@ -64,7 +64,7 @@ namespace DotRecast.Detour.TileCache.Io
                 byte[] data = tile.data;
                 DtTileCacheLayer layer = cache.DecompressTile(tile);
                 var comp = _compFactory.Create(cCompatibility ? 0 : 1);
-                data = builder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
+                data = DtTileCacheBuilder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
                 Write(stream, data.Length, order);
                 stream.Write(data);
             }

From 9a03ade6c929d396fab8fb0cd0e67297761dd82a Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 21 May 2024 00:11:08 +0900
Subject: [PATCH 041/147] Changed `DtTileCacheBuilder` to a static class

---
 src/DotRecast.Detour.TileCache/DtTileCache.cs             | 2 --
 src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs      | 3 ++-
 src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs | 1 -
 src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs    | 1 -
 4 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index 6423305..26fce63 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -53,8 +53,6 @@ namespace DotRecast.Detour.TileCache
         private readonly List<DtObstacleRequest> m_reqs = new List<DtObstacleRequest>();
         private readonly List<long> m_update = new List<long>();
 
-        private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
-
         public DtTileCache(DtTileCacheParams option, DtTileCacheStorageParams storageParams, DtNavMesh navmesh, IRcCompressor tcomp, IDtTileCacheMeshProcess tmprocs)
         {
             m_params = option;
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index d73905c..6c5d059 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -29,11 +29,12 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.TileCache
 {
-    public class DtTileCacheBuilder
+    public static class DtTileCacheBuilder
     {
         public const int DT_TILECACHE_NULL_AREA = 0;
         public const int DT_TILECACHE_WALKABLE_AREA = 63;
         public const int DT_TILECACHE_NULL_IDX = 0xffff;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
 
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
index bd172d1..674b680 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
@@ -100,7 +100,6 @@ namespace DotRecast.Detour.TileCache
             List<byte[]> result = new List<byte[]>();
             if (lset != null)
             {
-                DtTileCacheBuilder builder = new DtTileCacheBuilder();
                 for (int i = 0; i < lset.layers.Length; ++i)
                 {
                     RcHeightfieldLayer layer = lset.layers[i];
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
index 2268263..14438d5 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
@@ -28,7 +28,6 @@ namespace DotRecast.Detour.TileCache.Io
     public class DtTileCacheWriter : DtWriter
     {
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
-        private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
         private readonly IDtTileCacheCompressorFactory _compFactory;
 
         public DtTileCacheWriter(IDtTileCacheCompressorFactory compFactory)

From c7f03d00ff6749ed00942d2daf0202028d328050 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 22 May 2024 01:33:15 +0900
Subject: [PATCH 042/147] Changed `Dictionary<int, List<DtMeshTile>>` to
 `DtMeshTile[]` to optimize memory usage

---
 CHANGELOG.md                                  |   1 +
 src/DotRecast.Detour/DtMeshTile.cs            |   1 +
 src/DotRecast.Detour/DtNavMesh.cs             | 168 +++++++++++-------
 src/DotRecast.Detour/DtNavMeshQuery.cs        |  32 ++--
 .../Tools/RcTileTool.cs                       |   4 +-
 .../Io/MeshSetReaderTest.cs                   |  75 +++++---
 .../Io/MeshSetReaderWriterTest.cs             |  24 ++-
 .../TempObstaclesTest.cs                      |  29 ++-
 8 files changed, 205 insertions(+), 129 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3f8fdef..affc210 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `PolyQueryInvoker` to `DtActionPolyQuery`
 - Changed `DtTileCacheBuilder` to a static class
 - Changed `DtTileCacheLayerHeaderReader` to a static class
+- Changed `Dictionary<int, List<DtMeshTile>>` to `DtMeshTile[]` to optimize memory usage
  
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour/DtMeshTile.cs b/src/DotRecast.Detour/DtMeshTile.cs
index 3f56287..b285b24 100644
--- a/src/DotRecast.Detour/DtMeshTile.cs
+++ b/src/DotRecast.Detour/DtMeshTile.cs
@@ -33,6 +33,7 @@ namespace DotRecast.Detour
         public DtLink[] links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
 
         public int flags; //< Tile flags. (See: #dtTileFlags)
+        public DtMeshTile next; //< The next free tile, or the next tile in the spatial grid.
 
         public DtMeshTile(int index)
         {
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index d3f2bf6..5a1a9ac 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -39,8 +39,8 @@ namespace DotRecast.Detour
         private int m_tileLutSize; //< Tile hash lookup size (must be pot).
         private int m_tileLutMask; // < Tile hash lookup mask.
 
-        private Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
-        private LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
+        private DtMeshTile[] m_posLookup; //< Tile hash lookup.
+        private DtMeshTile m_nextFree; //< Freelist of tiles.
         private DtMeshTile[] m_tiles; //< List of tiles.
 
         /** The maximum number of vertices per navigation polygon. */
@@ -62,15 +62,16 @@ namespace DotRecast.Detour
             if (0 == m_tileLutSize)
                 m_tileLutSize = 1;
             m_tileLutMask = m_tileLutSize - 1;
-            
+
             m_tiles = new DtMeshTile[m_maxTiles];
-            m_posLookup = new Dictionary<int, List<DtMeshTile>>();
-            m_nextFree = new LinkedList<DtMeshTile>();
-            for (int i = 0; i < m_maxTiles; i++)
+            m_posLookup = new DtMeshTile[m_tileLutSize];
+            m_nextFree = null;
+            for (int i = m_maxTiles-1; i >= 0; --i)
             {
                 m_tiles[i] = new DtMeshTile(i);
                 m_tiles[i].salt = 1;
-                m_nextFree.AddLast(m_tiles[i]);
+                m_tiles[i].next = m_nextFree;
+                m_nextFree = m_tiles[i];
             }
 
             return DtStatus.DT_SUCCESS;
@@ -384,15 +385,13 @@ namespace DotRecast.Detour
             DtMeshTile tile = null;
             if (lastRef == 0)
             {
-                // Make sure we could allocate a tile.
-                if (0 == m_nextFree.Count)
+                if (null != m_nextFree)
                 {
-                    throw new Exception("Could not allocate a tile");
+                    tile = m_nextFree;
+                    m_nextFree = tile.next;
+                    tile.next = null;
+                    m_tileCount++;
                 }
-
-                tile = m_nextFree.First?.Value;
-                m_nextFree.RemoveFirst();
-                m_tileCount++;
             }
             else
             {
@@ -405,14 +404,25 @@ namespace DotRecast.Detour
 
                 // Try to find the specific tile id from the free list.
                 DtMeshTile target = m_tiles[tileIndex];
-                // Remove from freelist
-                if (!m_nextFree.Remove(target))
+                DtMeshTile prev = null;
+                tile = m_nextFree;
+
+                while (null != tile && tile != target)
                 {
-                    // Could not find the correct location.
-                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+                    prev = tile;
+                    tile = tile.next;
                 }
 
-                tile = target;
+                // Could not find the correct location.
+                if (tile != target)
+                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+
+                // Remove from freelist
+                if (null == prev)
+                    m_nextFree = tile.next;
+                else
+                    prev.next = tile.next;
+
                 // Restore salt.
                 tile.salt = DecodePolyIdSalt(lastRef);
             }
@@ -424,7 +434,10 @@ namespace DotRecast.Detour
             }
 
             // Insert tile into the position lut.
-            GetTileListByPos(header.x, header.y).Add(tile);
+            int h = ComputeTileHash(header.x, header.y, m_tileLutMask);
+            tile.next = m_posLookup[h];
+            m_posLookup[h] = tile;
+
 
             // Patch header pointers.
             tile.data = data;
@@ -450,13 +463,19 @@ namespace DotRecast.Detour
             tile.flags = flags;
 
             ConnectIntLinks(tile);
+
             // Base off-mesh connections to their starting polygons and connect connections inside the tile.
             BaseOffMeshLinks(tile);
             ConnectExtOffMeshLinks(tile, tile, -1);
 
+            // Create connections with neighbour tiles.
+            const int MAX_NEIS = 32;
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+            int nneis;
+
             // Connect with layers in current tile.
-            List<DtMeshTile> neis = GetTilesAt(header.x, header.y);
-            for (int j = 0; j < neis.Count; ++j)
+            nneis = GetTilesAt(header.x, header.y, neis, MAX_NEIS);
+            for (int j = 0; j < nneis; ++j)
             {
                 if (neis[j] == tile)
                 {
@@ -472,8 +491,8 @@ namespace DotRecast.Detour
             // Connect with neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                neis = GetNeighbourTilesAt(header.x, header.y, i);
-                for (int j = 0; j < neis.Count; ++j)
+                nneis = GetNeighbourTilesAt(header.x, header.y, i, neis, MAX_NEIS);
+                for (int j = 0; j < nneis; ++j)
                 {
                     ConnectExtLinks(tile, neis[j], i);
                     ConnectExtLinks(neis[j], tile, DtUtils.OppositeTile(i));
@@ -516,30 +535,44 @@ namespace DotRecast.Detour
             }
 
             // Remove tile from hash lookup.
-            GetTileListByPos(tile.data.header.x, tile.data.header.y).Remove(tile);
-
-            // Remove connections to neighbour tiles.
-            // Create connections with neighbour tiles.
-
-            // Disconnect from other layers in current tile.
-            List<DtMeshTile> nneis = GetTilesAt(tile.data.header.x, tile.data.header.y);
-            foreach (DtMeshTile j in nneis)
+            int h = ComputeTileHash(tile.data.header.x, tile.data.header.y, m_tileLutMask);
+            DtMeshTile prev = null;
+            DtMeshTile cur = m_posLookup[h];
+            while (null != cur)
             {
-                if (j == tile)
+                if (cur == tile)
                 {
-                    continue;
+                    if (null != prev)
+                        prev.next = cur.next;
+                    else
+                        m_posLookup[h] = cur.next;
+                    break;
                 }
 
-                UnconnectLinks(j, tile);
+                prev = cur;
+                cur = cur.next;
+            }
+
+            // Remove connections to neighbour tiles.
+            const int MAX_NEIS = 32;
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+            int nneis = 0;
+
+            // Disconnect from other layers in current tile.
+            nneis = GetTilesAt(tile.data.header.x, tile.data.header.y, neis, MAX_NEIS);
+            for (int j = 0; j < nneis; ++j)
+            {
+                if (neis[j] == tile) continue;
+                UnconnectLinks(neis[j], tile);
             }
 
             // Disconnect from neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i);
-                foreach (DtMeshTile j in nneis)
+                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i, neis, MAX_NEIS);
+                for (int j = 0; j < nneis; ++j)
                 {
-                    UnconnectLinks(j, tile);
+                    UnconnectLinks(neis[j], tile);
                 }
             }
 
@@ -557,7 +590,8 @@ namespace DotRecast.Detour
             }
 
             // Add to free list.
-            m_nextFree.AddFirst(tile);
+            tile.next = m_nextFree;
+            m_nextFree = tile;
             m_tileCount--;
             return GetTileRef(tile);
         }
@@ -1270,19 +1304,27 @@ namespace DotRecast.Detour
 
         DtMeshTile GetTileAt(int x, int y, int layer)
         {
-            foreach (DtMeshTile tile in GetTileListByPos(x, y))
+            // Find tile based on hash.
+            int h = ComputeTileHash(x, y, m_tileLutMask);
+            DtMeshTile tile = m_posLookup[h];
+            while (null != tile)
             {
-                if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y
-                    && tile.data.header.layer == layer)
+                if (null != tile.data &&
+                    null != tile.data.header &&
+                    tile.data.header.x == x &&
+                    tile.data.header.y == y &&
+                    tile.data.header.layer == layer)
                 {
                     return tile;
                 }
+
+                tile = tile.next;
             }
 
             return null;
         }
 
-        List<DtMeshTile> GetNeighbourTilesAt(int x, int y, int side)
+        int GetNeighbourTilesAt(int x, int y, int side, DtMeshTile[] tiles, int maxTiles)
         {
             int nx = x, ny = y;
             switch (side)
@@ -1317,21 +1359,31 @@ namespace DotRecast.Detour
                     break;
             }
 
-            return GetTilesAt(nx, ny);
+            return GetTilesAt(nx, ny, tiles, maxTiles);
         }
 
-        public List<DtMeshTile> GetTilesAt(int x, int y)
+        public int GetTilesAt(int x, int y, DtMeshTile[] tiles, int maxTiles)
         {
-            List<DtMeshTile> tiles = new List<DtMeshTile>();
-            foreach (DtMeshTile tile in GetTileListByPos(x, y))
+            int n = 0;
+
+            // Find tile based on hash.
+            int h = ComputeTileHash(x, y, m_tileLutMask);
+            DtMeshTile tile = m_posLookup[h];
+            while (null != tile)
             {
-                if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y)
+                if (null != tile.data &&
+                    null != tile.data.header &&
+                    tile.data.header.x == x &&
+                    tile.data.header.y == y)
                 {
-                    tiles.Add(tile);
+                    if (n < maxTiles)
+                        tiles[n++] = tile;
                 }
+
+                tile = tile.next;
             }
 
-            return tiles;
+            return n;
         }
 
         public long GetTileRefAt(int x, int y, int layer)
@@ -1453,9 +1505,9 @@ namespace DotRecast.Detour
             return m_tileCount;
         }
 
-        public int GetAvailableTileCount()
+        public bool IsAvailableTileCount()
         {
-            return m_nextFree.Count;
+            return null != m_nextFree;
         }
 
         public DtStatus SetPolyFlags(long refs, int flags)
@@ -1613,18 +1665,6 @@ namespace DotRecast.Detour
             return center;
         }
 
-        private List<DtMeshTile> GetTileListByPos(int x, int z)
-        {
-            var tileHash = ComputeTileHash(x, z, m_tileLutMask);
-            if (!m_posLookup.TryGetValue(tileHash, out var tiles))
-            {
-                tiles = new List<DtMeshTile>();
-                m_posLookup.Add(tileHash, tiles);
-            }
-
-            return tiles;
-        }
-
         public void ComputeBounds(out RcVec3f bmin, out RcVec3f bmax)
         {
             bmin = new RcVec3f(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 040eb5d..c73cd30 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -764,39 +764,27 @@ namespace DotRecast.Detour
             // Find tiles the query touches.
             RcVec3f bmin = RcVec3f.Subtract(center, halfExtents);
             RcVec3f bmax = RcVec3f.Add(center, halfExtents);
-            foreach (var t in QueryTiles(center, halfExtents))
-            {
-                QueryPolygonsInTile(t, bmin, bmax, filter, query);
-            }
 
-            return DtStatus.DT_SUCCESS;
-        }
-
-        /**
-     * Finds tiles that overlap the search box.
-     */
-        public IList<DtMeshTile> QueryTiles(RcVec3f center, RcVec3f halfExtents)
-        {
-            if (!center.IsFinite() || !halfExtents.IsFinite())
-            {
-                return RcImmutableArray<DtMeshTile>.Empty;
-            }
-
-            RcVec3f bmin = RcVec3f.Subtract(center, halfExtents);
-            RcVec3f bmax = RcVec3f.Add(center, halfExtents);
+            // Find tiles the query touches.
             m_nav.CalcTileLoc(bmin, out var minx, out var miny);
             m_nav.CalcTileLoc(bmax, out var maxx, out var maxy);
 
-            List<DtMeshTile> tiles = new List<DtMeshTile>();
+            const int MAX_NEIS = 32;
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+
             for (int y = miny; y <= maxy; ++y)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
-                    tiles.AddRange(m_nav.GetTilesAt(x, y));
+                    int nneis = m_nav.GetTilesAt(x, y, neis, MAX_NEIS);
+                    for (int j = 0; j < nneis; ++j)
+                    {
+                        QueryPolygonsInTile(neis[j], bmin, bmax, filter, query);
+                    }
                 }
             }
 
-            return tiles;
+            return DtStatus.DT_SUCCESS;
         }
 
         /// @par
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
index 38d93dc..b4410c5 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
@@ -68,8 +68,8 @@ namespace DotRecast.Recast.Toolset.Tools
             tileTriCount = 0; // ...
             tileMemUsage = 0; // ...
 
-            var availableTileCount = navMesh.GetAvailableTileCount();
-            if (0 >= availableTileCount)
+            var availableTile = navMesh.IsAvailableTileCount();
+            if (!availableTile)
             {
                 return false;
             }
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
index e2bf949..d93ffb9 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
@@ -24,7 +24,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-
 public class MeshSetReaderTest
 {
     private readonly DtMeshSetReader reader = new DtMeshSetReader();
@@ -39,20 +38,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(4, 7);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(4, 7, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(22 * 3));
-        tiles = mesh.GetTilesAt(1, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(1, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(26 * 3));
-        tiles = mesh.GetTilesAt(6, 2);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(6, 2, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(1));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(4 * 3));
-        tiles = mesh.GetTilesAt(7, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(7, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(8));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(24 * 3));
     }
@@ -68,20 +75,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }
@@ -97,21 +112,29 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }
-}
+}
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
index 02ca48e..af50c50 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
@@ -107,20 +107,28 @@ public class MeshSetReaderWriterTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }
diff --git a/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
index a894e41..add9cfc 100644
--- a/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
@@ -26,7 +26,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-
 public class TempObstaclesTest : AbstractTileCacheTest
 {
     [Test]
@@ -43,21 +42,29 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddObstacle(new RcVec3f(-1.815208f, 9.998184f, -20.307983f), 1f, 2f);
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
@@ -77,24 +84,32 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddBoxObstacle(
             new RcVec3f(-2.315208f, 9.998184f, -20.807983f),
             new RcVec3f(-1.315208f, 11.998184f, -19.807983f)
         );
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));

From 5b6905bd8fdbdcea1e1fe900207b6c1bd3895f45 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 22 May 2024 23:48:52 +0900
Subject: [PATCH 043/147] Changed `MAX_STEER_POINTS` from class constant to
 local.

---
 CHANGELOG.md                        | 3 ++-
 src/DotRecast.Detour/DtPathUtils.cs | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index affc210..5288a1b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,7 +18,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `DtTileCacheBuilder` to a static class
 - Changed `DtTileCacheLayerHeaderReader` to a static class
 - Changed `Dictionary<int, List<DtMeshTile>>` to `DtMeshTile[]` to optimize memory usage
- 
+- Changed `MAX_STEER_POINTS` from class constant to local. 
+
 ### Removed
 - Nothing
 
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 3141ba1..7dbaa6b 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -28,13 +28,13 @@ namespace DotRecast.Detour
 
     public static class DtPathUtils
     {
-        private const int MAX_STEER_POINTS = 3;
-
         public static bool GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos,
             float minTargetDist,
             List<long> path, int pathSize,
             out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef)
         {
+            const int MAX_STEER_POINTS = 3;
+            
             steerPos = RcVec3f.Zero;
             steerPosFlag = 0;
             steerPosRef = 0;

From 99224251dc0cf4f83b60ef8f5cbd2d3554b64c18 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 23 May 2024 02:16:03 +0900
Subject: [PATCH 044/147] Changed `List<DtStraightPath>` to
 `Span<DtStraightPath>` for enhanced memory efficiency

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Detour.Crowd/DtCrowd.cs         | 10 +--
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs    | 25 +++---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  | 50 ++++++------
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 68 +++++++++--------
 src/DotRecast.Detour/DtNavMeshQueryMock.cs    | 34 +++++++++
 src/DotRecast.Detour/DtPathUtils.cs           | 10 +--
 .../Tools/CrowdSampleTool.cs                  |  8 +-
 .../Tools/TestNavmeshSampleTool.cs            | 21 ++---
 .../Tools/RcTestNavMeshTool.cs                | 25 +++---
 .../DtPathCorridorTest.cs                     | 76 ++++++-------------
 test/DotRecast.Detour.Test/FindPathTest.cs    |  8 +-
 .../TileCacheFindPathTest.cs                  | 10 +--
 13 files changed, 179 insertions(+), 167 deletions(-)
 create mode 100644 src/DotRecast.Detour/DtNavMeshQueryMock.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5288a1b..3f8f729 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `DtTileCacheLayerHeaderReader` to a static class
 - Changed `Dictionary<int, List<DtMeshTile>>` to `DtMeshTile[]` to optimize memory usage
 - Changed `MAX_STEER_POINTS` from class constant to local. 
+- Changed `List<DtStraightPath>` to `Span<DtStraightPath>` for enhanced memory efficiency
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 2bbb1c1..985ac55 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -944,13 +944,13 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Find corners for steering
-                ag.corridor.FindCorners(ref ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
+                ag.ncorners = ag.corridor.FindCorners(ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
 
                 // Check to see if the corner after the next corner is directly visible,
                 // and short cut to there.
-                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
+                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.ncorners > 0)
                 {
-                    RcVec3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos;
+                    RcVec3f target = ag.corners[Math.Min(1, ag.ncorners - 1)].pos;
                     ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
                         _filters[ag.option.queryFilterType]);
 
@@ -1000,7 +1000,7 @@ namespace DotRecast.Detour.Crowd
 
                     // Adjust the path over the off-mesh connection.
                     long[] refs = new long[2];
-                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].refs, refs, ref anim.startPos,
+                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.ncorners - 1].refs, refs, ref anim.startPos,
                             ref anim.endPos, _navQuery))
                     {
                         anim.initPos = ag.npos;
@@ -1010,7 +1010,7 @@ namespace DotRecast.Detour.Crowd
                         anim.tmax = (RcVecUtils.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
-                        ag.corners.Clear();
+                        ag.ncorners = 0;
                         ag.neis.Clear();
                         continue;
                     }
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index 0e2e3f8..ab63346 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -61,8 +61,11 @@ namespace DotRecast.Detour.Crowd
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
-        public List<DtStraightPath> corners = new List<DtStraightPath>();
-
+        public DtStraightPath[] corners = new DtStraightPath[DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS];
+        
+        /// The number of corners.
+        public int ncorners;
+        
         public DtMoveRequestState targetState; // < State of the movement request.
         public long targetRef; // < Target polyref of the movement request.
         public RcVec3f targetPos = new RcVec3f(); // < Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY).
@@ -100,16 +103,16 @@ namespace DotRecast.Detour.Crowd
 
         public bool OverOffmeshConnection(float radius)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return false;
 
-            bool offMeshConnection = ((corners[corners.Count - 1].flags
+            bool offMeshConnection = ((corners[ncorners - 1].flags
                                        & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 ? true
                 : false;
             if (offMeshConnection)
             {
-                float distSq = RcVecUtils.Dist2DSqr(npos, corners[corners.Count - 1].pos);
+                float distSq = RcVecUtils.Dist2DSqr(npos, corners[ncorners - 1].pos);
                 if (distSq < radius * radius)
                     return true;
             }
@@ -119,12 +122,12 @@ namespace DotRecast.Detour.Crowd
 
         public float GetDistanceToGoal(float range)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return range;
 
-            bool endOfPath = ((corners[corners.Count - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
+            bool endOfPath = ((corners[ncorners - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
             if (endOfPath)
-                return Math.Min(RcVecUtils.Dist2D(npos, corners[corners.Count - 1].pos), range);
+                return Math.Min(RcVecUtils.Dist2D(npos, corners[ncorners - 1].pos), range);
 
             return range;
         }
@@ -132,10 +135,10 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcSmoothSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 int ip0 = 0;
-                int ip1 = Math.Min(1, corners.Count - 1);
+                int ip1 = Math.Min(1, ncorners - 1);
                 var p0 = corners[ip0].pos;
                 var p1 = corners[ip1].pos;
 
@@ -161,7 +164,7 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcStraightSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 dir = RcVec3f.Subtract(corners[0].pos, npos);
                 dir.Y = 0;
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 76020ba..9d543dc 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -133,42 +133,42 @@ namespace DotRecast.Detour.Crowd
         ///  @param[in]		navquery		The query object used to build the corridor.
         ///  @param[in]		filter			The filter to apply to the operation.
         /// @return The number of corners returned in the corner buffers. [0 <= value <= @p maxCorners]
-        public int FindCorners(ref List<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
+        public int FindCorners(Span<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             const float MIN_TARGET_DIST = 0.01f;
 
-            var result = navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, ref corners, maxCorners, 0);
-            if (result.Succeeded())
+            int ncorners = 0;
+            navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, corners, out ncorners, maxCorners, 0);
+
+            // Prune points in the beginning of the path which are too close.
+            while (0 < ncorners)
             {
-                // Prune points in the beginning of the path which are too close.
-                int start = 0;
-                foreach (DtStraightPath spi in corners)
+                if ((corners[0].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
+                    RcVecUtils.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                 {
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
-                    {
-                        break;
-                    }
-
-                    start++;
+                    break;
                 }
 
-                int end = corners.Count;
-                // Prune points after an off-mesh connection.
-                for (int i = start; i < corners.Count; i++)
+                ncorners--;
+                if (0 < ncorners)
                 {
-                    DtStraightPath spi = corners[i];
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
-                    {
-                        end = i + 1;
-                        break;
-                    }
+                    RcSpans.Move(corners, 1, 0, 3);
                 }
-
-                corners = corners.GetRange(start, end - start);
             }
 
-            return corners.Count;
+
+            // Prune points after an off-mesh connection.
+            for (int i = 0; i < ncorners; ++i)
+            {
+                if ((corners[i].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                {
+                    ncorners = i + 1;
+                    break;
+                }
+            }
+
+
+            return ncorners;
         }
 
         /**
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index c73cd30..3bf0cc3 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -20,9 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Reflection;
 using DotRecast.Core;
-using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
@@ -1485,24 +1483,27 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS | details;
         }
 
-        protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<DtStraightPath> straightPath,
-            int maxStraightPath)
+        protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, Span<DtStraightPath> straightPath, ref int straightPathCount, int maxStraightPath)
         {
-            if (straightPath.Count > 0 && DtUtils.VEqual(straightPath[straightPath.Count - 1].pos, pos))
+            if (straightPathCount > 0 && DtUtils.VEqual(straightPath[straightPathCount - 1].pos, pos))
             {
                 // The vertices are equal, update flags and poly.
-                straightPath[straightPath.Count - 1] = new DtStraightPath(straightPath[straightPath.Count - 1].pos, flags, refs);
+                straightPath[straightPathCount - 1] = new DtStraightPath(straightPath[straightPathCount - 1].pos, flags, refs);
             }
             else
             {
-                if (straightPath.Count < maxStraightPath)
+                // Append new vertex.
+                straightPath[straightPathCount] = new DtStraightPath(pos, flags, refs);
+                straightPathCount++;
+
+                // If there is no space to append more vertices, return.
+                if (straightPathCount >= maxStraightPath)
                 {
-                    // Append new vertex.
-                    straightPath.Add(new DtStraightPath(pos, flags, refs));
+                    return DtStatus.DT_SUCCESS | DtStatus.DT_BUFFER_TOO_SMALL;
                 }
 
-                // If reached end of path or there is no space to append more vertices, return.
-                if (flags == DtStraightPathFlags.DT_STRAIGHTPATH_END || straightPath.Count >= maxStraightPath)
+                // If reached end of path, return.
+                if (flags == DtStraightPathFlags.DT_STRAIGHTPATH_END)
                 {
                     return DtStatus.DT_SUCCESS;
                 }
@@ -1512,9 +1513,9 @@ namespace DotRecast.Detour
         }
 
         protected DtStatus AppendPortals(int startIdx, int endIdx, RcVec3f endPos, List<long> path,
-            ref List<DtStraightPath> straightPath, int maxStraightPath, int options)
+            Span<DtStraightPath> straightPath, ref int straightPathCount, int maxStraightPath, int options)
         {
-            var startPos = straightPath[straightPath.Count - 1].pos;
+            var startPos = straightPath[straightPathCount - 1].pos;
             // Append or update last vertex
             DtStatus stat;
             for (int i = startIdx; i < endIdx; i++)
@@ -1553,7 +1554,7 @@ namespace DotRecast.Detour
                 if (DtUtils.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
                 {
                     var pt = RcVec3f.Lerp(left, right, t);
-                    stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath);
+                    stat = AppendVertex(pt, 0, path[i + 1], straightPath, ref straightPathCount, maxStraightPath);
                     if (!stat.InProgress())
                     {
                         return stat;
@@ -1590,17 +1591,22 @@ namespace DotRecast.Detour
         ///  @param[in]		maxStraightPath		The maximum number of points the straight path arrays can hold.  [Limit: > 0]
         ///  @param[in]		options				Query options. (see: #dtStraightPathOptions)
         /// @returns The status flags for the query.
-        public virtual DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
-            ref List<DtStraightPath> straightPath,
-            int maxStraightPath, int options)
+        public virtual DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos,
+            List<long> path, int pathSize,
+            Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath,
+            int options)
         {
-            if (!startPos.IsFinite() || !endPos.IsFinite() || null == straightPath
-                || null == path || pathSize <= 0 || path[0] == 0 || maxStraightPath <= 0)
+            straightPathCount = 0;
+
+            if (!startPos.IsFinite() || !endPos.IsFinite() ||
+                null == straightPath ||
+                null == path || pathSize <= 0 || path[0] == 0
+                || maxStraightPath <= 0)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            straightPath.Clear();
+            DtStatus stat = DtStatus.DT_STATUS_NOTHING;
 
             // TODO: Should this be callers responsibility?
             var closestStartPosRes = ClosestPointOnPolyBoundary(path[0], startPos, out var closestStartPos);
@@ -1616,7 +1622,7 @@ namespace DotRecast.Detour
             }
 
             // Add start point.
-            DtStatus stat = AppendVertex(closestStartPos, DtStraightPathFlags.DT_STRAIGHTPATH_START, path[0], ref straightPath, maxStraightPath);
+            stat = AppendVertex(closestStartPos, DtStraightPathFlags.DT_STRAIGHTPATH_START, path[0], straightPath, ref straightPathCount, maxStraightPath);
             if (!stat.InProgress())
             {
                 return stat;
@@ -1663,13 +1669,13 @@ namespace DotRecast.Detour
                             if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                             {
                                 // Ignore status return value as we're just about to return anyway.
-                                AppendPortals(apexIndex, i, closestEndPos, path, ref straightPath, maxStraightPath, options);
+                                AppendPortals(apexIndex, i, closestEndPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
                             }
 
                             // Ignore status return value as we're just about to return anyway.
-                            AppendVertex(closestEndPos, 0, path[i], ref straightPath, maxStraightPath);
+                            AppendVertex(closestEndPos, 0, path[i], straightPath, ref straightPathCount, maxStraightPath);
 
-                            return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM | (straightPath.Count >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
+                            return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
                         }
 
                         // If starting really close the portal, advance.
@@ -1705,7 +1711,7 @@ namespace DotRecast.Detour
                             // Append portals along the current straight path segment.
                             if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                             {
-                                stat = AppendPortals(apexIndex, leftIndex, portalLeft, path, ref straightPath, maxStraightPath, options);
+                                stat = AppendPortals(apexIndex, leftIndex, portalLeft, path, straightPath, ref straightPathCount, maxStraightPath, options);
                                 if (!stat.InProgress())
                                 {
                                     return stat;
@@ -1728,7 +1734,7 @@ namespace DotRecast.Detour
                             long refs = leftPolyRef;
 
                             // Append or update vertex
-                            stat = AppendVertex(portalApex, flags, refs, ref straightPath, maxStraightPath);
+                            stat = AppendVertex(portalApex, flags, refs, straightPath, ref straightPathCount, maxStraightPath);
                             if (!stat.InProgress())
                             {
                                 return stat;
@@ -1761,7 +1767,7 @@ namespace DotRecast.Detour
                             // Append portals along the current straight path segment.
                             if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                             {
-                                stat = AppendPortals(apexIndex, rightIndex, portalRight, path, ref straightPath, maxStraightPath, options);
+                                stat = AppendPortals(apexIndex, rightIndex, portalRight, path, straightPath, ref straightPathCount, maxStraightPath, options);
                                 if (!stat.InProgress())
                                 {
                                     return stat;
@@ -1784,7 +1790,7 @@ namespace DotRecast.Detour
                             long refs = rightPolyRef;
 
                             // Append or update vertex
-                            stat = AppendVertex(portalApex, flags, refs, ref straightPath, maxStraightPath);
+                            stat = AppendVertex(portalApex, flags, refs, straightPath, ref straightPathCount, maxStraightPath);
                             if (!stat.InProgress())
                             {
                                 return stat;
@@ -1806,7 +1812,7 @@ namespace DotRecast.Detour
                 // Append portals along the current straight path segment.
                 if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                 {
-                    stat = AppendPortals(apexIndex, pathSize - 1, closestEndPos, path, ref straightPath, maxStraightPath, options);
+                    stat = AppendPortals(apexIndex, pathSize - 1, closestEndPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
                     if (!stat.InProgress())
                     {
                         return stat;
@@ -1815,8 +1821,8 @@ namespace DotRecast.Detour
             }
 
             // Ignore status return value as we're just about to return anyway.
-            AppendVertex(closestEndPos, DtStraightPathFlags.DT_STRAIGHTPATH_END, 0, ref straightPath, maxStraightPath);
-            return DtStatus.DT_SUCCESS | (straightPath.Count >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
+            AppendVertex(closestEndPos, DtStraightPathFlags.DT_STRAIGHTPATH_END, 0, straightPath, ref straightPathCount, maxStraightPath);
+            return DtStatus.DT_SUCCESS | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
         }
 
         /// @par
diff --git a/src/DotRecast.Detour/DtNavMeshQueryMock.cs b/src/DotRecast.Detour/DtNavMeshQueryMock.cs
new file mode 100644
index 0000000..d9e6275
--- /dev/null
+++ b/src/DotRecast.Detour/DtNavMeshQueryMock.cs
@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
+{
+    public class DtNavMeshQueryMock : DtNavMeshQuery
+    {
+        private readonly DtStraightPath[] _straightPath;
+        private readonly DtStatus _status;
+
+        public DtNavMeshQueryMock(DtStraightPath[] straightPath, DtStatus status)
+            : base(null)
+        {
+            _straightPath = straightPath;
+            _status = status;
+        }
+
+        public override DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos,
+            List<long> path, int pathSize,
+            Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath,
+            int options)
+        {
+            straightPathCount = 0;
+            for (int i = 0; i < _straightPath.Length && i < maxStraightPath; ++i)
+            {
+                straightPath[i] = _straightPath[i];
+                straightPathCount += 1;
+            }
+
+            return _status;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index 7dbaa6b..fe366b7 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -34,14 +34,14 @@ namespace DotRecast.Detour
             out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef)
         {
             const int MAX_STEER_POINTS = 3;
-            
+
             steerPos = RcVec3f.Zero;
             steerPosFlag = 0;
             steerPosRef = 0;
 
             // Find steer target.
-            var straightPath = new List<DtStraightPath>(MAX_STEER_POINTS);
-            var result = navQuery.FindStraightPath(startPos, endPos, path, pathSize, ref straightPath, MAX_STEER_POINTS, 0);
+            Span<DtStraightPath> straightPath = stackalloc DtStraightPath[MAX_STEER_POINTS];
+            var result = navQuery.FindStraightPath(startPos, endPos, path, pathSize, straightPath, out var nsteerPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
                 return false;
@@ -49,7 +49,7 @@ namespace DotRecast.Detour
 
             // Find vertex far enough to steer to.
             int ns = 0;
-            while (ns < straightPath.Count)
+            while (ns < nsteerPath)
             {
                 // Stop at Off-Mesh link or when point is further than slop away.
                 if (((straightPath[ns].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
@@ -59,7 +59,7 @@ namespace DotRecast.Detour
             }
 
             // Failed to find good point to steer to.
-            if (ns >= straightPath.Count)
+            if (ns >= nsteerPath)
                 return false;
 
             steerPos = straightPath[ns].pos;
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
index e33ec2c..9c5d96f 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
@@ -251,10 +251,10 @@ public class CrowdSampleTool : ISampleTool
 
             if (_showCorners)
             {
-                if (0 < ag.corners.Count)
+                if (0 < ag.ncorners)
                 {
                     dd.Begin(LINES, 2.0f);
-                    for (int j = 0; j < ag.corners.Count; ++j)
+                    for (int j = 0; j < ag.ncorners; ++j)
                     {
                         RcVec3f va = j == 0 ? pos : ag.corners[j - 1].pos;
                         RcVec3f vb = ag.corners[j].pos;
@@ -262,10 +262,10 @@ public class CrowdSampleTool : ISampleTool
                         dd.Vertex(vb.X, vb.Y + radius, vb.Z, DuRGBA(128, 0, 0, 192));
                     }
 
-                    if ((ag.corners[ag.corners.Count - 1].flags
+                    if ((ag.corners[ag.ncorners - 1].flags
                          & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
-                        RcVec3f v = ag.corners[ag.corners.Count - 1].pos;
+                        RcVec3f v = ag.corners[ag.ncorners - 1].pos;
                         dd.Vertex(v.X, v.Y, v.Z, DuRGBA(192, 0, 0, 192));
                         dd.Vertex(v.X, v.Y + radius * 2, v.Z, DuRGBA(192, 0, 0, 192));
                     }
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
index d692d46..917bdb7 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
@@ -57,7 +57,8 @@ public class TestNavmeshSampleTool : ISampleTool
     private bool m_hitResult;
 
     private float m_distanceToWall;
-    private List<DtStraightPath> m_straightPath;
+    private DtStraightPath[] m_straightPath;
+    private int m_straightPathCount;
     private List<long> m_polys;
     private List<long> m_parent;
     private float m_neighbourhoodRadius;
@@ -77,6 +78,8 @@ public class TestNavmeshSampleTool : ISampleTool
             SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
             new float[] { 1f, 1f, 1f, 1f, 2f, 1.5f }
         );
+        m_straightPath = new DtStraightPath[MAX_POLYS];
+        m_straightPathCount = 0;
     }
 
     public void Layout()
@@ -284,7 +287,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 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_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -304,7 +307,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 6.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     int col;
@@ -349,7 +352,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 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_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -359,7 +362,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 4.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     dd.Vertex(straightPathItem.pos.X, straightPathItem.pos.Y + 0.4f, straightPathItem.pos.Z, spathCol);
@@ -666,18 +669,18 @@ public class TestNavmeshSampleTool : ISampleTool
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
         {
             _tool.FindStraightPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_straightPath, _straightPathOption);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, _straightPathOption);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
         {
             m_polys?.Clear();
-            m_straightPath?.Clear();
+            m_straightPathCount = 0;
             m_pathFindStatus = _tool.InitSlicedFindPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast);
         }
         else if (_mode == RcTestNavmeshToolMode.RAYCAST)
         {
             _tool.Raycast(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter,
-                ref m_polys, ref m_straightPath, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
         }
         else if (_mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
         {
@@ -712,7 +715,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
             if (m_pathFindStatus.InProgress())
             {
-                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, ref m_straightPath);
+                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS);
             }
         }
     }
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index ef8b369..37a7b56 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -11,7 +11,6 @@ namespace DotRecast.Recast.Toolset.Tools
         public const int MAX_POLYS = 256;
         public const int MAX_SMOOTH = 2048;
 
-
         public RcTestNavMeshTool()
         {
         }
@@ -172,15 +171,15 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus FindStraightPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, int straightPathOptions)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, int straightPathOptions)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 return DtStatus.DT_FAILURE;
             }
 
             polys ??= new List<long>();
-            straightPath ??= new List<DtStraightPath>();
 
             polys.Clear();
             straightPath.Clear();
@@ -202,7 +201,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, ref straightPath, MAX_POLYS, straightPathOptions);
+            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, straightPath, out straightPathCount, maxStraightPath, straightPathOptions);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -221,8 +220,9 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos,
-            ref List<long> path, ref List<DtStraightPath> straightPath)
+            ref List<long> path, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath)
         {
+            straightPathCount = 0;
             var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
 
             if (!status.Succeeded())
@@ -232,7 +232,6 @@ namespace DotRecast.Recast.Toolset.Tools
 
             navQuery.FinalizeSlicedFindPath(ref path);
 
-            straightPath?.Clear();
             if (path != null)
             {
                 // In case of partial path, make sure the end point is clamped to the last polygon.
@@ -246,8 +245,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
                 }
 
-                straightPath = new List<DtStraightPath>(MAX_POLYS);
-                navQuery.FindStraightPath(startPos, epos, path, path.Count, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
+                navQuery.FindStraightPath(startPos, epos, path, path.Count, straightPath, out straightPathCount, maxStraightPath, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
             }
 
             return DtStatus.DT_SUCCESS;
@@ -255,13 +253,12 @@ namespace DotRecast.Recast.Toolset.Tools
 
 
         public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 polys?.Clear();
-                straightPath?.Clear();
-
                 return DtStatus.DT_FAILURE;
             }
 
@@ -299,10 +296,8 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            straightPath ??= new List<DtStraightPath>();
-            straightPath.Clear();
-            straightPath.Add(new DtStraightPath(startPos, 0, 0));
-            straightPath.Add(new DtStraightPath(hitPos, 0, 0));
+            straightPath[straightPathCount++] = new DtStraightPath(startPos, 0, 0);
+            straightPath[straightPathCount++] = new DtStraightPath(hitPos, 0, 0);
 
             return status;
         }
diff --git a/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
index c77eb28..00b1763 100644
--- a/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
@@ -17,15 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
-
-using Moq;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-
 public class DtPathCorridorTest
 {
     private readonly DtPathCorridor corridor = new DtPathCorridor();
@@ -41,63 +39,35 @@ public class DtPathCorridorTest
     [Test]
     public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
     {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                It.IsAny<int>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            )
-            .Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCESS);
+        var straightPath = new DtStraightPath[4];
+        straightPath[0] = new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0);
+        straightPath[1] = new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0);
+        straightPath[2] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        straightPath[3] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
 
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(4));
-        Assert.That(path, Is.EqualTo(straightPath));
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        var npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(4));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(straightPath));
     }
 
+
     [Test]
     public void ShouldPrunePathInFindCorners()
     {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+        DtStraightPath[] straightPath = new DtStraightPath[5];
+        straightPath[0] = (new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
+        straightPath[1] = (new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
+        straightPath[2] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
+        straightPath[3] = (new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+        straightPath[4] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
 
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                It.IsAny<int>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            ).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path, int pathSize,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCESS);
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
 
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(2));
-        Assert.That(path, Is.EqualTo(new List<DtStraightPath> { straightPath[2], straightPath[3] }));
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        int npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(2));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(new DtStraightPath[] { straightPath[2], straightPath[3] }));
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/FindPathTest.cs b/test/DotRecast.Detour.Test/FindPathTest.cs
index 32ad91a..92069d1 100644
--- a/test/DotRecast.Detour.Test/FindPathTest.cs
+++ b/test/DotRecast.Detour.Test/FindPathTest.cs
@@ -16,13 +16,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class FindPathTest : AbstractDetourTest
 {
     private static readonly DtStatus[] STATUSES =
@@ -184,6 +184,7 @@ public class FindPathTest : AbstractDetourTest
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         var path = new List<long>();
+        Span<DtStraightPath> straightPath = stackalloc DtStraightPath[256];
         for (int i = 0; i < STRAIGHT_PATHS.Length; i++)
         {
             // startRefs.Length; i++) {
@@ -192,9 +193,8 @@ public class FindPathTest : AbstractDetourTest
             var startPos = startPoss[i];
             var endPos = endPoss[i];
             var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-            var straightPath = new List<DtStraightPath>();
-            query.FindStraightPath(startPos, endPos, path, path.Count, ref straightPath, int.MaxValue, 0);
-            Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
+            query.FindStraightPath(startPos, endPos, path, path.Count, straightPath, out var nstraightPath, 256, 0);
+            Assert.That(nstraightPath, Is.EqualTo(STRAIGHT_PATHS[i].Length));
             for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
             {
                 Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
index 2139074..eab34e0 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using System.IO;
 using DotRecast.Core;
@@ -29,7 +30,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-
 public class TileCacheFindPathTest : AbstractTileCacheTest
 {
     private readonly RcVec3f start = new RcVec3f(39.44734f, 9.998177f, -0.784811f);
@@ -56,11 +56,11 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
         var path = new List<long>();
         var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-        int maxStraightPath = 256;
+        const int maxStraightPath = 256;
         int options = 0;
 
-        var pathStr = new List<DtStraightPath>();
-        query.FindStraightPath(startPos, endPos, path, path.Count, ref pathStr, maxStraightPath, options);
-        Assert.That(pathStr.Count, Is.EqualTo(8));
+        Span<DtStraightPath> pathStr = stackalloc DtStraightPath[maxStraightPath];
+        query.FindStraightPath(startPos, endPos, path, path.Count, pathStr, out var npathStr, maxStraightPath, options);
+        Assert.That(npathStr, Is.EqualTo(8));
     }
 }
\ No newline at end of file

From 886be3712f74f47e5d1ec07f8560475eada43f65 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 23 May 2024 22:39:03 +0900
Subject: [PATCH 045/147] Changed `DtWriter` to a static class and renamed it
 to `RcIO`

---
 CHANGELOG.md                                  |   1 +
 src/DotRecast.Core/RcIO.cs                    | 135 ++++++++++++++++++
 .../Io/DtVoxelFileReader.cs                   |   4 +-
 .../Io/DtVoxelFileWriter.cs                   |  87 ++++++-----
 .../Unity/Astar/ZipBinaryReader.cs            |   2 +-
 .../Io/DtTileCacheLayerHeaderWriter.cs        |  44 +++---
 .../Io/DtTileCacheReader.cs                   |   4 +-
 .../Io/DtTileCacheWriter.cs                   |  38 ++---
 src/DotRecast.Detour/Io/DtMeshDataReader.cs   |  10 +-
 src/DotRecast.Detour/Io/DtMeshDataWriter.cs   | 104 +++++++-------
 src/DotRecast.Detour/Io/DtMeshSetReader.cs    |   8 +-
 src/DotRecast.Detour/Io/DtMeshSetWriter.cs    |  16 +--
 .../Io/DtNavMeshParamWriter.cs                |  16 +--
 src/DotRecast.Detour/Io/DtWriter.cs           |  98 -------------
 src/DotRecast.Detour/Io/IOUtils.cs            |  64 ---------
 .../AbstractDetourTest.cs                     |   1 +
 16 files changed, 303 insertions(+), 329 deletions(-)
 create mode 100644 src/DotRecast.Core/RcIO.cs
 delete mode 100644 src/DotRecast.Detour/Io/DtWriter.cs
 delete mode 100644 src/DotRecast.Detour/Io/IOUtils.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3f8f729..9f0176e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `Dictionary<int, List<DtMeshTile>>` to `DtMeshTile[]` to optimize memory usage
 - Changed `MAX_STEER_POINTS` from class constant to local. 
 - Changed `List<DtStraightPath>` to `Span<DtStraightPath>` for enhanced memory efficiency
+- Changed `DtWriter` to a static class and renamed it to `RcIO`
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Core/RcIO.cs b/src/DotRecast.Core/RcIO.cs
new file mode 100644
index 0000000..ea1f268
--- /dev/null
+++ b/src/DotRecast.Core/RcIO.cs
@@ -0,0 +1,135 @@
+/*
+Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+using System;
+using System.IO;
+
+namespace DotRecast.Core
+{
+    public static class RcIO
+    {
+        public static RcByteBuffer ToByteBuffer(BinaryReader br, bool direct)
+        {
+            byte[] data = ToByteArray(br);
+            if (direct)
+            {
+                Array.Reverse(data);
+            }
+
+            return new RcByteBuffer(data);
+        }
+
+        public static byte[] ToByteArray(BinaryReader br)
+        {
+            using var ms = new MemoryStream();
+            Span<byte> buffer = stackalloc byte[4096];
+            int l;
+            while ((l = br.Read(buffer)) > 0)
+            {
+                ms.Write(buffer.Slice(0, l));
+            }
+
+            return ms.ToArray();
+        }
+
+
+        public static RcByteBuffer ToByteBuffer(BinaryReader br)
+        {
+            var bytes = ToByteArray(br);
+            return new RcByteBuffer(bytes);
+        }
+
+        public static int SwapEndianness(int i)
+        {
+            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
+            return (int)s;
+        }
+
+        public static void Write(BinaryWriter ws, float value, RcByteOrder order)
+        {
+            byte[] bytes = BitConverter.GetBytes(value);
+            int i = BitConverter.ToInt32(bytes, 0);
+            Write(ws, i, order);
+        }
+
+        public static void Write(BinaryWriter ws, short value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, long value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                Write(ws, (int)((ulong)value >> 32), order);
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+            }
+            else
+            {
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+                Write(ws, (int)((ulong)value >> 32), order);
+            }
+        }
+
+        public static void Write(BinaryWriter ws, int value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 24) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 24) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, bool value)
+        {
+            Write(ws, (byte)(value ? 1 : 0));
+        }
+
+        public static void Write(BinaryWriter ws, byte value)
+        {
+            ws.Write(value);
+        }
+
+        public static void Write(BinaryWriter ws, MemoryStream ms)
+        {
+            ms.Position = 0;
+            byte[] buffer = new byte[ms.Length];
+            ms.Read(buffer, 0, buffer.Length);
+            ws.Write(buffer);
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
index c63f285..1f886ab 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
@@ -35,12 +35,12 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public DtVoxelFile Read(BinaryReader stream)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             DtVoxelFile file = new DtVoxelFile();
             int magic = buf.GetInt();
             if (magic != DtVoxelFile.MAGIC)
             {
-                magic = IOUtils.SwapEndianness(magic);
+                magic = RcIO.SwapEndianness(magic);
                 if (magic != DtVoxelFile.MAGIC)
                 {
                     throw new IOException("Invalid magic");
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
index 70ed7b2..0a5cdad 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
@@ -19,12 +19,11 @@ freely, subject to the following restrictions:
 
 using System.IO;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
 using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class DtVoxelFileWriter : DtWriter
+    public class DtVoxelFileWriter
     {
         private readonly IRcCompressor _compressor;
 
@@ -40,34 +39,34 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void Write(BinaryWriter stream, DtVoxelFile f, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, DtVoxelFile.MAGIC, byteOrder);
-            Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
-            Write(stream, f.walkableRadius, byteOrder);
-            Write(stream, f.walkableHeight, byteOrder);
-            Write(stream, f.walkableClimb, byteOrder);
-            Write(stream, f.walkableSlopeAngle, byteOrder);
-            Write(stream, f.cellSize, byteOrder);
-            Write(stream, f.maxSimplificationError, byteOrder);
-            Write(stream, f.maxEdgeLen, byteOrder);
-            Write(stream, f.minRegionArea, byteOrder);
-            Write(stream, f.regionMergeArea, byteOrder);
-            Write(stream, f.vertsPerPoly, byteOrder);
-            Write(stream, f.buildMeshDetail);
-            Write(stream, f.detailSampleDistance, byteOrder);
-            Write(stream, f.detailSampleMaxError, byteOrder);
-            Write(stream, f.useTiles);
-            Write(stream, f.tileSizeX, byteOrder);
-            Write(stream, f.tileSizeZ, byteOrder);
-            Write(stream, f.rotation.X, byteOrder);
-            Write(stream, f.rotation.Y, byteOrder);
-            Write(stream, f.rotation.Z, byteOrder);
-            Write(stream, f.bounds[0], byteOrder);
-            Write(stream, f.bounds[1], byteOrder);
-            Write(stream, f.bounds[2], byteOrder);
-            Write(stream, f.bounds[3], byteOrder);
-            Write(stream, f.bounds[4], byteOrder);
-            Write(stream, f.bounds[5], byteOrder);
-            Write(stream, f.tiles.Count, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.MAGIC, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
+            RcIO.Write(stream, f.walkableRadius, byteOrder);
+            RcIO.Write(stream, f.walkableHeight, byteOrder);
+            RcIO.Write(stream, f.walkableClimb, byteOrder);
+            RcIO.Write(stream, f.walkableSlopeAngle, byteOrder);
+            RcIO.Write(stream, f.cellSize, byteOrder);
+            RcIO.Write(stream, f.maxSimplificationError, byteOrder);
+            RcIO.Write(stream, f.maxEdgeLen, byteOrder);
+            RcIO.Write(stream, f.minRegionArea, byteOrder);
+            RcIO.Write(stream, f.regionMergeArea, byteOrder);
+            RcIO.Write(stream, f.vertsPerPoly, byteOrder);
+            RcIO.Write(stream, f.buildMeshDetail);
+            RcIO.Write(stream, f.detailSampleDistance, byteOrder);
+            RcIO.Write(stream, f.detailSampleMaxError, byteOrder);
+            RcIO.Write(stream, f.useTiles);
+            RcIO.Write(stream, f.tileSizeX, byteOrder);
+            RcIO.Write(stream, f.tileSizeZ, byteOrder);
+            RcIO.Write(stream, f.rotation.X, byteOrder);
+            RcIO.Write(stream, f.rotation.Y, byteOrder);
+            RcIO.Write(stream, f.rotation.Z, byteOrder);
+            RcIO.Write(stream, f.bounds[0], byteOrder);
+            RcIO.Write(stream, f.bounds[1], byteOrder);
+            RcIO.Write(stream, f.bounds[2], byteOrder);
+            RcIO.Write(stream, f.bounds[3], byteOrder);
+            RcIO.Write(stream, f.bounds[4], byteOrder);
+            RcIO.Write(stream, f.bounds[5], byteOrder);
+            RcIO.Write(stream, f.tiles.Count, byteOrder);
             foreach (DtVoxelTile t in f.tiles)
             {
                 WriteTile(stream, t, byteOrder, compression);
@@ -76,26 +75,26 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void WriteTile(BinaryWriter stream, DtVoxelTile tile, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, tile.tileX, byteOrder);
-            Write(stream, tile.tileZ, byteOrder);
-            Write(stream, tile.width, byteOrder);
-            Write(stream, tile.depth, byteOrder);
-            Write(stream, tile.borderSize, byteOrder);
-            Write(stream, tile.boundsMin.X, byteOrder);
-            Write(stream, tile.boundsMin.Y, byteOrder);
-            Write(stream, tile.boundsMin.Z, byteOrder);
-            Write(stream, tile.boundsMax.X, byteOrder);
-            Write(stream, tile.boundsMax.Y, byteOrder);
-            Write(stream, tile.boundsMax.Z, byteOrder);
-            Write(stream, tile.cellSize, byteOrder);
-            Write(stream, tile.cellHeight, byteOrder);
+            RcIO.Write(stream, tile.tileX, byteOrder);
+            RcIO.Write(stream, tile.tileZ, byteOrder);
+            RcIO.Write(stream, tile.width, byteOrder);
+            RcIO.Write(stream, tile.depth, byteOrder);
+            RcIO.Write(stream, tile.borderSize, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Z, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Z, byteOrder);
+            RcIO.Write(stream, tile.cellSize, byteOrder);
+            RcIO.Write(stream, tile.cellHeight, byteOrder);
             byte[] bytes = tile.spanData;
             if (compression)
             {
                 bytes = _compressor.Compress(bytes);
             }
 
-            Write(stream, bytes.Length, byteOrder);
+            RcIO.Write(stream, bytes.Length, byteOrder);
             stream.Write(bytes);
         }
     }
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
index b7a2f9f..6abc219 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
@@ -31,7 +31,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
             ZipArchiveEntry graphReferences = file.GetEntry(filename);
             using var entryStream = graphReferences.Open();
             using var br = new BinaryReader(entryStream);
-            RcByteBuffer buffer = IOUtils.ToByteBuffer(br);
+            RcByteBuffer buffer = RcIO.ToByteBuffer(br);
             buffer.Order(RcByteOrder.LITTLE_ENDIAN);
             return buffer;
         }
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
index 444888d..386bba6 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
@@ -24,34 +24,34 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderWriter : DtWriter
+    public class DtTileCacheLayerHeaderWriter
     {
         public void Write(BinaryWriter stream, DtTileCacheLayerHeader header, RcByteOrder 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);
-            
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, header.version, order);
+            RcIO.Write(stream, header.tx, order);
+            RcIO.Write(stream, header.ty, order);
+            RcIO.Write(stream, header.tlayer, order);
 
-            Write(stream, (short)header.hmin, order);
-            Write(stream, (short)header.hmax, order);
-            Write(stream, (byte)header.width);
-            Write(stream, (byte)header.height);
-            Write(stream, (byte)header.minx);
-            Write(stream, (byte)header.maxx);
-            Write(stream, (byte)header.miny);
-            Write(stream, (byte)header.maxy);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
+
+            RcIO.Write(stream, (short)header.hmin, order);
+            RcIO.Write(stream, (short)header.hmax, order);
+            RcIO.Write(stream, (byte)header.width);
+            RcIO.Write(stream, (byte)header.height);
+            RcIO.Write(stream, (byte)header.minx);
+            RcIO.Write(stream, (byte)header.maxx);
+            RcIO.Write(stream, (byte)header.miny);
+            RcIO.Write(stream, (byte)header.maxy);
             if (cCompatibility)
             {
-                Write(stream, (short)0, order); // C struct padding
+                RcIO.Write(stream, (short)0, order); // C struct padding
             }
         }
     }
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
index 43f3d1a..09aa6a2 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
@@ -37,7 +37,7 @@ namespace DotRecast.Detour.TileCache.Io
 
         public DtTileCache Read(BinaryReader @is, int maxVertPerPoly, IDtTileCacheMeshProcess meshProcessor)
         {
-            RcByteBuffer bb = IOUtils.ToByteBuffer(@is);
+            RcByteBuffer bb = RcIO.ToByteBuffer(@is);
             return Read(bb, maxVertPerPoly, meshProcessor);
         }
 
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.TileCache.Io
             header.magic = bb.GetInt();
             if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
                 {
                     throw new IOException("Invalid magic");
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
index 14438d5..74d4582 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
@@ -25,7 +25,7 @@ using DotRecast.Detour.TileCache.Io.Compress;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheWriter : DtWriter
+    public class DtTileCacheWriter
     {
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
         private readonly IDtTileCacheCompressorFactory _compFactory;
@@ -38,8 +38,8 @@ namespace DotRecast.Detour.TileCache.Io
 
         public void Write(BinaryWriter stream, DtTileCache cache, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
-            Write(stream, cCompatibility
+            RcIO.Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
+            RcIO.Write(stream, cCompatibility
                 ? DtTileCacheSetHeader.TILECACHESET_VERSION
                 : DtTileCacheSetHeader.TILECACHESET_VERSION_RECAST4J, order);
             int numTiles = 0;
@@ -51,7 +51,7 @@ namespace DotRecast.Detour.TileCache.Io
                 numTiles++;
             }
 
-            Write(stream, numTiles, order);
+            RcIO.Write(stream, numTiles, order);
             paramWriter.Write(stream, cache.GetNavMesh().GetParams(), order);
             WriteCacheParams(stream, cache.GetParams(), order);
             for (int i = 0; i < cache.GetTileCount(); i++)
@@ -59,32 +59,32 @@ namespace DotRecast.Detour.TileCache.Io
                 DtCompressedTile tile = cache.GetTile(i);
                 if (tile == null || tile.data == null)
                     continue;
-                Write(stream, (int)cache.GetTileRef(tile), order);
+                RcIO.Write(stream, (int)cache.GetTileRef(tile), order);
                 byte[] data = tile.data;
                 DtTileCacheLayer layer = cache.DecompressTile(tile);
                 var comp = _compFactory.Create(cCompatibility ? 0 : 1);
                 data = DtTileCacheBuilder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
-                Write(stream, data.Length, order);
+                RcIO.Write(stream, data.Length, order);
                 stream.Write(data);
             }
         }
 
         private void WriteCacheParams(BinaryWriter stream, DtTileCacheParams option, RcByteOrder order)
         {
-            Write(stream, option.orig.X, order);
-            Write(stream, option.orig.Y, order);
-            Write(stream, option.orig.Z, order);
+            RcIO.Write(stream, option.orig.X, order);
+            RcIO.Write(stream, option.orig.Y, order);
+            RcIO.Write(stream, option.orig.Z, order);
 
-            Write(stream, option.cs, order);
-            Write(stream, option.ch, order);
-            Write(stream, option.width, order);
-            Write(stream, option.height, order);
-            Write(stream, option.walkableHeight, order);
-            Write(stream, option.walkableRadius, order);
-            Write(stream, option.walkableClimb, order);
-            Write(stream, option.maxSimplificationError, order);
-            Write(stream, option.maxTiles, order);
-            Write(stream, option.maxObstacles, order);
+            RcIO.Write(stream, option.cs, order);
+            RcIO.Write(stream, option.ch, order);
+            RcIO.Write(stream, option.width, order);
+            RcIO.Write(stream, option.height, order);
+            RcIO.Write(stream, option.walkableHeight, order);
+            RcIO.Write(stream, option.walkableRadius, order);
+            RcIO.Write(stream, option.walkableClimb, order);
+            RcIO.Write(stream, option.maxSimplificationError, order);
+            RcIO.Write(stream, option.maxTiles, order);
+            RcIO.Write(stream, option.maxObstacles, order);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/Io/DtMeshDataReader.cs b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
index 0ae0c2d..a258c5d 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
@@ -26,10 +26,12 @@ namespace DotRecast.Detour.Io
     public class DtMeshDataReader
     {
         public const int DT_POLY_DETAIL_SIZE = 10;
+        public const int LINK_SIZEOF = 16;
+        public const int LINK_SIZEOF32BIT = 12;
 
         public DtMeshData Read(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, false);
         }
 
@@ -40,7 +42,7 @@ namespace DotRecast.Detour.Io
 
         public DtMeshData Read32Bit(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, true);
         }
 
@@ -57,7 +59,7 @@ namespace DotRecast.Detour.Io
             header.magic = buf.GetInt();
             if (header.magic != DT_NAVMESH_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != DT_NAVMESH_MAGIC)
                 {
                     throw new IOException("Invalid magic");
@@ -118,8 +120,6 @@ namespace DotRecast.Detour.Io
             return data;
         }
 
-        public const int LINK_SIZEOF = 16;
-        public const int LINK_SIZEOF32BIT = 12;
 
         public static int GetSizeofLink(bool is32Bit)
         {
diff --git a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
index 4189676..fa70e7b 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
@@ -23,36 +23,36 @@ namespace DotRecast.Detour.Io
 {
     using static DtDetour;
 
-    public class DtMeshDataWriter : DtWriter
+    public class DtMeshDataWriter
     {
         public void Write(BinaryWriter stream, DtMeshData data, RcByteOrder order, bool cCompatibility)
         {
             DtMeshHeader header = data.header;
-            Write(stream, header.magic, order);
-            Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
-            Write(stream, header.x, order);
-            Write(stream, header.y, order);
-            Write(stream, header.layer, order);
-            Write(stream, header.userId, order);
-            Write(stream, header.polyCount, order);
-            Write(stream, header.vertCount, order);
-            Write(stream, header.maxLinkCount, order);
-            Write(stream, header.detailMeshCount, order);
-            Write(stream, header.detailVertCount, order);
-            Write(stream, header.detailTriCount, order);
-            Write(stream, header.bvNodeCount, order);
-            Write(stream, header.offMeshConCount, order);
-            Write(stream, header.offMeshBase, order);
-            Write(stream, header.walkableHeight, order);
-            Write(stream, header.walkableRadius, order);
-            Write(stream, header.walkableClimb, order);
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
-            Write(stream, header.bvQuantFactor, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
+            RcIO.Write(stream, header.x, order);
+            RcIO.Write(stream, header.y, order);
+            RcIO.Write(stream, header.layer, order);
+            RcIO.Write(stream, header.userId, order);
+            RcIO.Write(stream, header.polyCount, order);
+            RcIO.Write(stream, header.vertCount, order);
+            RcIO.Write(stream, header.maxLinkCount, order);
+            RcIO.Write(stream, header.detailMeshCount, order);
+            RcIO.Write(stream, header.detailVertCount, order);
+            RcIO.Write(stream, header.detailTriCount, order);
+            RcIO.Write(stream, header.bvNodeCount, order);
+            RcIO.Write(stream, header.offMeshConCount, order);
+            RcIO.Write(stream, header.offMeshBase, order);
+            RcIO.Write(stream, header.walkableHeight, order);
+            RcIO.Write(stream, header.walkableRadius, order);
+            RcIO.Write(stream, header.walkableClimb, order);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.bvQuantFactor, order);
             WriteVerts(stream, data.verts, header.vertCount, order);
             WritePolys(stream, data, order, cCompatibility);
             if (cCompatibility)
@@ -72,7 +72,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < count * 3; i++)
             {
-                Write(stream, verts[i], order);
+                RcIO.Write(stream, verts[i], order);
             }
         }
 
@@ -82,22 +82,22 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    Write(stream, 0xFFFF, order);
+                    RcIO.Write(stream, 0xFFFF, order);
                 }
 
                 for (int j = 0; j < data.polys[i].verts.Length; j++)
                 {
-                    Write(stream, (short)data.polys[i].verts[j], order);
+                    RcIO.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);
+                    RcIO.Write(stream, (short)data.polys[i].neis[j], order);
                 }
 
-                Write(stream, (short)data.polys[i].flags, order);
-                Write(stream, (byte)data.polys[i].vertCount);
-                Write(stream, (byte)data.polys[i].areaAndtype);
+                RcIO.Write(stream, (short)data.polys[i].flags, order);
+                RcIO.Write(stream, (byte)data.polys[i].vertCount);
+                RcIO.Write(stream, (byte)data.polys[i].areaAndtype);
             }
         }
 
@@ -105,13 +105,13 @@ namespace DotRecast.Detour.Io
         {
             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);
+                RcIO.Write(stream, data.detailMeshes[i].vertBase, order);
+                RcIO.Write(stream, data.detailMeshes[i].triBase, order);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].vertCount);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].triCount);
                 if (cCompatibility)
                 {
-                    Write(stream, (short)0, order);
+                    RcIO.Write(stream, (short)0, order);
                 }
             }
         }
@@ -120,7 +120,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.detailTriCount * 4; i++)
             {
-                Write(stream, (byte)data.detailTris[i]);
+                RcIO.Write(stream, (byte)data.detailTris[i]);
             }
         }
 
@@ -132,28 +132,28 @@ namespace DotRecast.Detour.Io
                 {
                     for (int j = 0; j < 3; j++)
                     {
-                        Write(stream, (short)data.bvTree[i].bmin[j], order);
+                        RcIO.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);
+                        RcIO.Write(stream, (short)data.bvTree[i].bmax[j], order);
                     }
                 }
                 else
                 {
                     for (int j = 0; j < 3; j++)
                     {
-                        Write(stream, data.bvTree[i].bmin[j], order);
+                        RcIO.Write(stream, data.bvTree[i].bmin[j], order);
                     }
 
                     for (int j = 0; j < 3; j++)
                     {
-                        Write(stream, data.bvTree[i].bmax[j], order);
+                        RcIO.Write(stream, data.bvTree[i].bmax[j], order);
                     }
                 }
 
-                Write(stream, data.bvTree[i].i, order);
+                RcIO.Write(stream, data.bvTree[i].i, order);
             }
         }
 
@@ -163,16 +163,16 @@ namespace DotRecast.Detour.Io
             {
                 for (int j = 0; j < 2; j++)
                 {
-                    Write(stream, data.offMeshCons[i].pos[j].X, order);
-                    Write(stream, data.offMeshCons[i].pos[j].Y, order);
-                    Write(stream, data.offMeshCons[i].pos[j].Z, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].X, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Y, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Z, order);
                 }
 
-                Write(stream, data.offMeshCons[i].rad, order);
-                Write(stream, (short)data.offMeshCons[i].poly, order);
-                Write(stream, (byte)data.offMeshCons[i].flags);
-                Write(stream, (byte)data.offMeshCons[i].side);
-                Write(stream, data.offMeshCons[i].userId, order);
+                RcIO.Write(stream, data.offMeshCons[i].rad, order);
+                RcIO.Write(stream, (short)data.offMeshCons[i].poly, order);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].flags);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].side);
+                RcIO.Write(stream, data.offMeshCons[i].userId, order);
             }
         }
     }
diff --git a/src/DotRecast.Detour/Io/DtMeshSetReader.cs b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
index a9964d0..8e0714d 100644
--- a/src/DotRecast.Detour/Io/DtMeshSetReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
@@ -31,7 +31,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, false);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, false);
         }
 
         public DtNavMesh Read(RcByteBuffer bb, int maxVertPerPoly)
@@ -41,7 +41,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read32Bit(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, true);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, true);
         }
 
         public DtNavMesh Read32Bit(RcByteBuffer bb, int maxVertPerPoly)
@@ -51,7 +51,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is)
         {
-            return Read(IOUtils.ToByteBuffer(@is));
+            return Read(RcIO.ToByteBuffer(@is));
         }
 
         public DtNavMesh Read(RcByteBuffer bb)
@@ -80,7 +80,7 @@ namespace DotRecast.Detour.Io
             header.magic = bb.GetInt();
             if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
                 {
                     throw new IOException("Invalid magic " + header.magic);
diff --git a/src/DotRecast.Detour/Io/DtMeshSetWriter.cs b/src/DotRecast.Detour/Io/DtMeshSetWriter.cs
index 4568813..0d0ec88 100644
--- a/src/DotRecast.Detour/Io/DtMeshSetWriter.cs
+++ b/src/DotRecast.Detour/Io/DtMeshSetWriter.cs
@@ -22,7 +22,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtMeshSetWriter : DtWriter
+    public class DtMeshSetWriter
     {
         private readonly DtMeshDataWriter writer = new DtMeshDataWriter();
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
@@ -35,8 +35,8 @@ namespace DotRecast.Detour.Io
 
         private void WriteHeader(BinaryWriter stream, DtNavMesh mesh, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
-            Write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
+            RcIO.Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
+            RcIO.Write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
             int numTiles = 0;
             for (int i = 0; i < mesh.GetMaxTiles(); ++i)
             {
@@ -49,11 +49,11 @@ namespace DotRecast.Detour.Io
                 numTiles++;
             }
 
-            Write(stream, numTiles, order);
+            RcIO.Write(stream, numTiles, order);
             paramWriter.Write(stream, mesh.GetParams(), order);
             if (!cCompatibility)
             {
-                Write(stream, mesh.GetMaxVertsPerPoly(), order);
+                RcIO.Write(stream, mesh.GetMaxVertsPerPoly(), order);
             }
         }
 
@@ -77,11 +77,11 @@ namespace DotRecast.Detour.Io
 
                 byte[] ba = msw.ToArray();
                 tileHeader.dataSize = ba.Length;
-                Write(stream, tileHeader.tileRef, order);
-                Write(stream, tileHeader.dataSize, order);
+                RcIO.Write(stream, tileHeader.tileRef, order);
+                RcIO.Write(stream, tileHeader.dataSize, order);
                 if (cCompatibility)
                 {
-                    Write(stream, 0, order); // C struct padding
+                    RcIO.Write(stream, 0, order); // C struct padding
                 }
 
                 stream.Write(ba);
diff --git a/src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs b/src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs
index 9aab820..75bdff0 100644
--- a/src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs
+++ b/src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs
@@ -4,17 +4,17 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtNavMeshParamWriter : DtWriter
+    public class DtNavMeshParamWriter
     {
         public void Write(BinaryWriter stream, DtNavMeshParams option, RcByteOrder order)
         {
-            Write(stream, option.orig.X, order);
-            Write(stream, option.orig.Y, order);
-            Write(stream, option.orig.Z, order);
-            Write(stream, option.tileWidth, order);
-            Write(stream, option.tileHeight, order);
-            Write(stream, option.maxTiles, order);
-            Write(stream, option.maxPolys, order);
+            RcIO.Write(stream, option.orig.X, order);
+            RcIO.Write(stream, option.orig.Y, order);
+            RcIO.Write(stream, option.orig.Z, order);
+            RcIO.Write(stream, option.tileWidth, order);
+            RcIO.Write(stream, option.tileHeight, order);
+            RcIO.Write(stream, option.maxTiles, order);
+            RcIO.Write(stream, option.maxPolys, order);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/Io/DtWriter.cs b/src/DotRecast.Detour/Io/DtWriter.cs
deleted file mode 100644
index 30eb56a..0000000
--- a/src/DotRecast.Detour/Io/DtWriter.cs
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public abstract class DtWriter
-    {
-        protected void Write(BinaryWriter stream, float value, RcByteOrder order)
-        {
-            byte[] bytes = BitConverter.GetBytes(value);
-            int i = BitConverter.ToInt32(bytes, 0);
-            Write(stream, i, order);
-        }
-
-        protected void Write(BinaryWriter stream, short value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)(value & 0xFF));
-            }
-            else
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, long value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                Write(stream, (int)((ulong)value >> 32), order);
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-            }
-            else
-            {
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-                Write(stream, (int)((ulong)value >> 32), order);
-            }
-        }
-
-        protected void Write(BinaryWriter stream, int value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.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
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)((value >> 16) & 0xFF));
-                stream.Write((byte)((value >> 24) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, bool @bool)
-        {
-            Write(stream, (byte)(@bool ? 1 : 0));
-        }
-
-        protected void Write(BinaryWriter stream, byte value)
-        {
-            stream.Write(value);
-        }
-
-        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);
-        }
-    }
-}
\ No newline at end of file
diff --git a/src/DotRecast.Detour/Io/IOUtils.cs b/src/DotRecast.Detour/Io/IOUtils.cs
deleted file mode 100644
index 2c5f7d2..0000000
--- a/src/DotRecast.Detour/Io/IOUtils.cs
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public static class IOUtils
-    {
-        public static RcByteBuffer ToByteBuffer(BinaryReader @is, bool direct)
-        {
-            byte[] data = ToByteArray(@is);
-            if (direct)
-            {
-                Array.Reverse(data);
-            }
-
-            return new RcByteBuffer(data);
-        }
-
-        public static byte[] ToByteArray(BinaryReader inputStream)
-        {
-            using var msw = new MemoryStream();
-            byte[] buffer = new byte[4096];
-            int l;
-            while ((l = inputStream.Read(buffer)) > 0)
-            {
-                msw.Write(buffer, 0, l);
-            }
-
-            return msw.ToArray();
-        }
-
-
-        public static RcByteBuffer ToByteBuffer(BinaryReader inputStream)
-        {
-            var bytes = ToByteArray(inputStream);
-            return new RcByteBuffer(bytes);
-        }
-
-        public static int SwapEndianness(int i)
-        {
-            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
-            return (int)s;
-        }
-    }
-}
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/AbstractDetourTest.cs b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
index 552cb31..55652f5 100644
--- a/test/DotRecast.Detour.Test/AbstractDetourTest.cs
+++ b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

From 2f507689095971eb6cbda56c388018f07de9b6cb Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 23 May 2024 22:42:17 +0900
Subject: [PATCH 046/147] upgrade Microsoft.NET.Test.Sdk 17.10.0

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index 343e1ce..cf68628 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 55953c2..dbbdf15 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 57e7160..e242435 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index a11f9e8..9ba85dd 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index c4e8dd5..ed58dfc 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 4278add..5297504 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index bd28373..5f7e20e 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>

From 1b4f5af1558f714cf1671987b0086cc11a5dafcd Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 24 May 2024 22:14:57 +0900
Subject: [PATCH 047/147] update comment

---
 src/DotRecast.Detour/DtNavMeshQuery.cs | 69 ++++++++++++--------------
 1 file changed, 32 insertions(+), 37 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 3bf0cc3..9bb3a39 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -27,18 +27,18 @@ namespace DotRecast.Detour
 {
     using static DtDetour;
 
+    /// Provides the ability to perform pathfinding related queries against
+    /// a navigation mesh.
+    /// @ingroup detour
     public class DtNavMeshQuery
     {
-        /// < Add a vertex at every polygon edge crossing.
-        protected readonly DtNavMesh m_nav;
+        protected readonly DtNavMesh m_nav; //< Pointer to navmesh data.
+        protected DtQueryData m_query; //< Sliced query state.
 
-        protected readonly DtNodePool m_tinyNodePool;
-        protected readonly DtNodePool m_nodePool;
-        protected readonly DtNodeQueue m_openList;
+        protected readonly DtNodePool m_tinyNodePool; //< Pointer to small node pool. 
+        protected readonly DtNodePool m_nodePool; //< Pointer to node pool. 
+        protected readonly DtNodeQueue m_openList; //< Pointer to open list queue. 
 
-        protected DtQueryData m_query;
-
-        /// < Sliced query state.
         public DtNavMeshQuery(DtNavMesh nav)
         {
             m_nav = nav;
@@ -1048,26 +1048,22 @@ namespace DotRecast.Detour
             return status;
         }
 
-        /**
-     * Intializes a sliced path query.
-     *
-     * Common use case: -# Call InitSlicedFindPath() to initialize the sliced path query. -# Call UpdateSlicedFindPath()
-     * until it returns complete. -# Call FinalizeSlicedFindPath() to get the path.
-     *
-     * @param startRef
-     *            The reference id of the start polygon.
-     * @param endRef
-     *            The reference id of the end polygon.
-     * @param startPos
-     *            A position within the start polygon. [(x, y, z)]
-     * @param endPos
-     *            A position within the end polygon. [(x, y, z)]
-     * @param filter
-     *            The polygon filter to apply to the query.
-     * @param options
-     *            query options (see: #FindPathOptions)
-     * @return
-     */
+        ///@}
+        /// @name Sliced Pathfinding Functions
+        /// Common use case:
+        ///	-# Call initSlicedFindPath() to initialize the sliced path query.
+        ///	-# Call updateSlicedFindPath() until it returns complete.
+        ///	-# Call finalizeSlicedFindPath() to get the path.
+        ///@{ 
+
+        /// Initializes a sliced path query.
+        ///  @param[in]		startRef	The reference id of the start polygon.
+        ///  @param[in]		endRef		The reference id of the end polygon.
+        ///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
+        ///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
+        ///  @param[in]		filter		The polygon filter to apply to the query.
+        ///  @param[in]		options		query options (see: #dtFindPathOptions)
+        /// @returns The status flags for the query.
         public DtStatus InitSlicedFindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, int options)
         {
             return InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, options, DtDefaultQueryHeuristic.Default, -1.0f);
@@ -1133,13 +1129,10 @@ namespace DotRecast.Detour
             return m_query.status;
         }
 
-        /**
-     * Updates an in-progress sliced path query.
-     *
-     * @param maxIter
-     *            The maximum number of iterations to perform.
-     * @return The status flags for the query.
-     */
+        /// Updates an in-progress sliced path query.
+        ///  @param[in]		maxIter		The maximum number of iterations to perform.
+        ///  @param[out]	doneIters	The actual number of iterations completed. [opt]
+        /// @returns The status flags for the query.
         public virtual DtStatus UpdateSlicedFindPath(int maxIter, out int doneIters)
         {
             doneIters = 0;
@@ -1379,8 +1372,10 @@ namespace DotRecast.Detour
         }
 
         /// Finalizes and returns the results of a sliced path query.
-        /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
-        /// [(polyRef) * @p pathCount]
+        ///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+        ///  							[(polyRef) * @p pathCount]
+        ///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+        ///  @param[in]		maxPath		The max number of polygons the path array can hold. [Limit: >= 1]
         /// @returns The status flags for the query.
         public virtual DtStatus FinalizeSlicedFindPath(ref List<long> path)
         {

From aeefed7fbb555ee49fc80d5b84e5219b5f3678dd Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 25 May 2024 00:34:24 +0900
Subject: [PATCH 048/147] add DT_VERTS_PER_POLYGON

---
 src/DotRecast.Detour/DtDetour.cs         |  4 ++++
 src/DotRecast.Detour/DtNavMeshBuilder.cs | 24 ++++++++++++++----------
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/src/DotRecast.Detour/DtDetour.cs b/src/DotRecast.Detour/DtDetour.cs
index 20a2bc8..8ffb854 100644
--- a/src/DotRecast.Detour/DtDetour.cs
+++ b/src/DotRecast.Detour/DtDetour.cs
@@ -4,6 +4,10 @@ namespace DotRecast.Detour
 {
     public static class DtDetour
     {
+        /// The maximum number of vertices per navigation polygon.
+        /// @ingroup detour
+        public const int DT_VERTS_PER_POLYGON = 6;
+        
         /** A magic number used to detect compatibility of navigation tile data. */
         public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
 
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index f22534d..62f7136 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -111,8 +111,11 @@ namespace DotRecast.Detour
                 node.bmin = minmax[0];
                 node.bmax = minmax[1];
 
-                int axis = LongestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1],
-                    node.bmax[2] - node.bmin[2]);
+                int axis = LongestAxis(
+                    node.bmax[0] - node.bmin[0],
+                    node.bmax[1] - node.bmin[1],
+                    node.bmax[2] - node.bmin[2]
+                );
 
                 if (axis == 0)
                 {
@@ -253,14 +256,15 @@ namespace DotRecast.Detour
             return 0xff;
         }
 
-        /**
-     * Builds navigation mesh tile data from the provided tile creation data.
-     *
-     * @param option
-     *            Tile creation data.
-     *
-     * @return created tile data
-     */
+        // TODO: Better error handling.
+
+        /// @par
+        /// 
+        /// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+        /// used to free the memory will be determined by how the tile is added to the navigation
+        /// mesh.
+        ///
+        /// @see dtNavMesh, dtNavMesh::addTile()
         public static DtMeshData CreateNavMeshData(DtNavMeshCreateParams option)
         {
             if (option.vertCount >= 0xffff)

From 7664ae9f3d0b8a55571d04ff623e4e9ece504708 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 25 May 2024 09:36:00 +0900
Subject: [PATCH 049/147] code cleanup in RcResources

---
 src/DotRecast.Core/RcIO.cs                    | 30 +++++++++++++++++++
 src/DotRecast.Core/RcResources.cs             | 22 --------------
 .../Geom/DemoInputGeomProvider.cs             |  2 +-
 .../Geom/SimpleInputGeomProvider.cs           |  2 +-
 .../RcFilledVolumeRasterization.cs            |  4 +--
 .../DynamicNavMeshTest.cs                     |  2 +-
 .../Io/VoxelFileReaderTest.cs                 |  4 +--
 .../Io/VoxelFileReaderWriterTest.cs           |  4 +--
 .../VoxelQueryTest.cs                         |  2 +-
 .../Io/MeshSetReaderTest.cs                   |  6 ++--
 .../Io/TileCacheReaderTest.cs                 |  4 +--
 .../TileCacheFindPathTest.cs                  |  2 +-
 12 files changed, 46 insertions(+), 38 deletions(-)
 delete mode 100644 src/DotRecast.Core/RcResources.cs

diff --git a/src/DotRecast.Core/RcIO.cs b/src/DotRecast.Core/RcIO.cs
index ea1f268..80018bb 100644
--- a/src/DotRecast.Core/RcIO.cs
+++ b/src/DotRecast.Core/RcIO.cs
@@ -61,6 +61,36 @@ namespace DotRecast.Core
             return (int)s;
         }
 
+        public static byte[] ReadFileIfFound(string filename)
+        {
+            if (string.IsNullOrEmpty(filename))
+                return null;
+
+            string filePath = filename;
+
+            if (!File.Exists(filePath))
+            {
+                var searchFilePath = RcDirectory.SearchFile($"{filename}");
+                if (!File.Exists(searchFilePath))
+                {
+                    searchFilePath = RcDirectory.SearchFile($"resources/{filename}");
+                }
+
+                if (File.Exists(searchFilePath))
+                {
+                    filePath = searchFilePath;
+                }
+            }
+
+            using var fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.Read);
+            byte[] buffer = new byte[fs.Length];
+            var read = fs.Read(buffer, 0, buffer.Length);
+            if (read != buffer.Length)
+                return null;
+
+            return buffer;
+        }
+
         public static void Write(BinaryWriter ws, float value, RcByteOrder order)
         {
             byte[] bytes = BitConverter.GetBytes(value);
diff --git a/src/DotRecast.Core/RcResources.cs b/src/DotRecast.Core/RcResources.cs
deleted file mode 100644
index 2b33f7c..0000000
--- a/src/DotRecast.Core/RcResources.cs
+++ /dev/null
@@ -1,22 +0,0 @@
-using System.IO;
-
-namespace DotRecast.Core
-{
-    public static class RcResources
-    {
-        public static byte[] Load(string filename)
-        {
-            var filepath = filename;
-            if (!File.Exists(filepath))
-            {
-                filepath = RcDirectory.SearchFile($"resources/{filename}");
-            }
-            
-            using var fs = new FileStream(filepath, FileMode.Open, FileAccess.Read, FileShare.Read);
-            byte[] buffer = new byte[fs.Length];
-            fs.Read(buffer, 0, buffer.Length);
-
-            return buffer;
-        }
-    }
-}
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 50b3390..2161945 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -41,7 +41,7 @@ namespace DotRecast.Recast.Toolset.Geom
 
         public static DemoInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new DemoInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
index ec08dd2..ed4477c 100644
--- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
@@ -39,7 +39,7 @@ namespace DotRecast.Recast.Geom
 
         public static SimpleInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new SimpleInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index 7aa5c86..8c7a5c4 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -507,8 +507,8 @@ namespace DotRecast.Recast
             for (int i = 0; i < 8; i++)
             {
                 int vi = i * 3;
-                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] && vertices[vi + 2] >= rectangle[1]
-                    && vertices[vi + 2] < rectangle[3])
+                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] &&
+                    vertices[vi + 2] >= rectangle[1] && vertices[vi + 2] < rectangle[3])
                 {
                     yMin = Math.Min(yMin, vertices[vi + 1]);
                     yMax = Math.Max(yMax, vertices[vi + 1]);
diff --git a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
index cbcaa04..2f11aee 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
@@ -21,7 +21,7 @@ public class DynamicNavMeshTest
     [Test]
     public void E2eTest()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
index 275330f..07e8b31 100644
--- a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
@@ -31,7 +31,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadSingleTileFile()
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -57,7 +57,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadMultiTileFile()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
index 7ebf01a..ab3e79d 100644
--- a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
@@ -32,7 +32,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadSingleTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -60,7 +60,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadMultiTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
diff --git a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
index 451de65..63b7a76 100644
--- a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
@@ -93,7 +93,7 @@ public class VoxelQueryTest
 
     private DtDynamicNavMesh CreateDynaMesh()
     {
-        var bytes = RcResources.Load("test_tiles.voxels");
+        var bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
index d93ffb9..a723b61 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
@@ -31,7 +31,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestNavmesh()
     {
-        byte[] @is = RcResources.Load("all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
         DtNavMesh mesh = reader.Read(br, 6);
@@ -67,7 +67,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -104,7 +104,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon32Bit()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh_32bit.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh_32bit.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
diff --git a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
index ba67a7f..96205a0 100644
--- a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
@@ -35,7 +35,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestNavmesh()
     {
-        using var ms = new MemoryStream(RcResources.Load("all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));
@@ -133,7 +133,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestDungeon()
     {
-        using var ms = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
index eab34e0..0bf3f7a 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
@@ -39,7 +39,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
     public TileCacheFindPathTest()
     {
-        using var msr = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var msr = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(msr);
         DtTileCache tcC = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared).Read(br, 6, new TestTileCacheMeshProcess());
         navmesh = tcC.GetNavMesh();

From e6f515f08a1ea29150b516f8104092ea04e30c83 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 25 May 2024 21:37:04 +0900
Subject: [PATCH 050/147] update comment

---
 src/DotRecast.Detour/DtNavMeshQuery.cs | 42 ++++++++++++--------------
 1 file changed, 19 insertions(+), 23 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 9bb3a39..1f885d7 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -1055,7 +1055,6 @@ namespace DotRecast.Detour
         ///	-# Call updateSlicedFindPath() until it returns complete.
         ///	-# Call finalizeSlicedFindPath() to get the path.
         ///@{ 
-
         /// Initializes a sliced path query.
         ///  @param[in]		startRef	The reference id of the start polygon.
         ///  @param[in]		endRef		The reference id of the end polygon.
@@ -2256,16 +2255,16 @@ namespace DotRecast.Detour
         ///
         /// This method is meant to be used for quick, short distance checks.
         ///
-        /// If the path array is too small to hold the result, it will be filled as
+        /// If the path array is too small to hold the result, it will be filled as 
         /// far as possible from the start postion toward the end position.
         ///
         /// <b>Using the Hit Parameter t of RaycastHit</b>
-        ///
-        /// If the hit parameter is a very high value (FLT_MAX), then the ray has hit
-        /// the end position. In this case the path represents a valid corridor to the
+        /// 
+        /// If the hit parameter is a very high value (FLT_MAX), then the ray has hit 
+        /// the end position. In this case the path represents a valid corridor to the 
         /// end position and the value of @p hitNormal is undefined.
         ///
-        /// If the hit parameter is zero, then the start position is on the wall that
+        /// If the hit parameter is zero, then the start position is on the wall that 
         /// was hit and the value of @p hitNormal is undefined.
         ///
         /// If 0 < t < 1.0 then the following applies:
@@ -2277,32 +2276,29 @@ namespace DotRecast.Detour
         ///
         /// <b>Use Case Restriction</b>
         ///
-        /// The raycast ignores the y-value of the end position. (2D check.) This
+        /// The raycast ignores the y-value of the end position. (2D check.) This 
         /// places significant limits on how it can be used. For example:
         ///
-        /// Consider a scene where there is a main floor with a second floor balcony
-        /// that hangs over the main floor. So the first floor mesh extends below the
-        /// balcony mesh. The start position is somewhere on the first floor. The end
+        /// Consider a scene where there is a main floor with a second floor balcony 
+        /// that hangs over the main floor. So the first floor mesh extends below the 
+        /// balcony mesh. The start position is somewhere on the first floor. The end 
         /// position is on the balcony.
         ///
-        /// The raycast will search toward the end position along the first floor mesh.
+        /// The raycast will search toward the end position along the first floor mesh. 
         /// If it reaches the end position's xz-coordinates it will indicate FLT_MAX
         /// (no wall hit), meaning it reached the end position. This is one example of why
         /// this method is meant for short distance checks.
         ///
-        /// Casts a 'walkability' ray along the surface of the navigation mesh from
+        /// Casts a 'walkability' ray along the surface of the navigation mesh from 
         /// the start position toward the end position.
-        /// @note A wrapper around Raycast(..., RaycastHit*). Retained for backward compatibility.
-        /// @param[in] startRef The reference id of the start polygon.
-        /// @param[in] startPos A position within the start polygon representing
-        /// the start of the ray. [(x, y, z)]
-        /// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
-        /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.)
-        /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)]
-        /// @param[in] filter The polygon filter to apply to the query.
-        /// @param[out] path The reference ids of the visited polygons. [opt]
-        /// @param[out] pathCount The number of visited polygons. [opt]
-        /// @param[in] maxPath The maximum number of polygons the @p path array can hold.
+        ///  @param[in]		startRef	The reference id of the start polygon.
+        ///  @param[in]		startPos	A position within the start polygon representing 
+        ///  							the start of the ray. [(x, y, z)]
+        ///  @param[in]		endPos		The position to cast the ray toward. [(x, y, z)]
+        ///  @param[in]		filter		The polygon filter to apply to the query.
+        ///  @param[in]		options		govern how the raycast behaves. See dtRaycastOptions
+        ///  @param[out]	hit			Pointer to a raycast hit structure which will be filled by the results.
+        ///  @param[in]		prevRef		parent of start ref. Used during for cost calculation [opt]
         /// @returns The status flags for the query.
         public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
             IDtQueryFilter filter, int options,

From 34d2ef639aab977c2d8e0158903c89da93bd752c Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 25 May 2024 22:42:57 +0900
Subject: [PATCH 051/147] update `DotRecast Copyright (c) 2023-2024 Choi Ikpil
 ikpil@naver.com`

---
 .../Collections/RcSortedQueue.cs              |  2 +-
 src/DotRecast.Core/IRcCompressor.cs           |  2 +-
 src/DotRecast.Core/Numerics/RcVec3f.cs        |  3 +-
 src/DotRecast.Core/RcByteUtils.cs             |  2 +-
 src/DotRecast.Core/RcContext.cs               |  2 +-
 src/DotRecast.Core/RcConvexUtils.cs           |  2 +-
 src/DotRecast.Core/RcIO.cs                    |  2 +-
 src/DotRecast.Core/RcIntersections.cs         |  2 +-
 src/DotRecast.Core/RcMath.cs                  |  2 +-
 src/DotRecast.Core/RcObjImporter.cs           |  2 +-
 src/DotRecast.Detour.Crowd/DtCrowd.cs         |  2 +-
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs    |  2 +-
 .../DtCrowdAgentAnimation.cs                  |  2 +-
 .../DtCrowdAgentDebugInfo.cs                  |  2 +-
 .../DtCrowdAgentParams.cs                     |  2 +-
 src/DotRecast.Detour.Crowd/DtCrowdConfig.cs   |  2 +-
 .../DtCrowdTelemetry.cs                       |  2 +-
 src/DotRecast.Detour.Crowd/DtLocalBoundary.cs |  2 +-
 .../DtObstacleAvoidanceDebugData.cs           |  2 +-
 .../DtObstacleAvoidanceQuery.cs               |  2 +-
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  |  2 +-
 src/DotRecast.Detour.Crowd/DtPathQuery.cs     |  2 +-
 .../DtPathQueryResult.cs                      |  2 +-
 src/DotRecast.Detour.Crowd/DtPathQueue.cs     |  2 +-
 src/DotRecast.Detour.Crowd/DtProximityGrid.cs |  2 +-
 .../Colliders/DtBoxCollider.cs                |  2 +-
 .../Colliders/DtCapsuleCollider.cs            |  2 +-
 .../Colliders/DtCollider.cs                   |  2 +-
 .../Colliders/DtCompositeCollider.cs          |  2 +-
 .../Colliders/DtConvexTrimeshCollider.cs      |  2 +-
 .../Colliders/DtCylinderCollider.cs           |  2 +-
 .../Colliders/DtSphereCollider.cs             |  2 +-
 .../Colliders/DtTrimeshCollider.cs            |  2 +-
 .../Colliders/IDtCollider.cs                  |  2 +-
 .../DtDynamicNavMesh.cs                       |  2 +-
 .../DtDynamicNavMeshConfig.cs                 |  2 +-
 src/DotRecast.Detour.Dynamic/DtDynamicTile.cs |  2 +-
 .../DtDynamicTileCheckpoint.cs                |  2 +-
 .../DtDynamicTileColliderAdditionJob.cs       |  2 +-
 .../DtDynamicTileColliderRemovalJob.cs        |  2 +-
 src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs  |  2 +-
 .../IDtDaynmicTileJob.cs                      |  2 +-
 .../Io/DtVoxelFile.cs                         |  2 +-
 .../Io/DtVoxelFileReader.cs                   |  2 +-
 .../Io/DtVoxelFileWriter.cs                   |  2 +-
 .../Io/DtVoxelTile.cs                         |  2 +-
 src/DotRecast.Detour.Extras/BVTreeBuilder.cs  |  2 +-
 src/DotRecast.Detour.Extras/DtPolyUtils.cs    |  3 +-
 src/DotRecast.Detour.Extras/ObjExporter.cs    |  3 +-
 .../Unity/Astar/BVTreeCreator.cs              |  3 +-
 .../Unity/Astar/GraphConnectionReader.cs      |  3 +-
 .../Unity/Astar/GraphData.cs                  |  2 +-
 .../Unity/Astar/GraphMeshData.cs              |  3 +-
 .../Unity/Astar/GraphMeshDataReader.cs        |  3 +-
 .../Unity/Astar/GraphMeta.cs                  |  3 +-
 .../Unity/Astar/GraphMetaReader.cs            |  3 +-
 .../Unity/Astar/LinkBuilder.cs                |  3 +-
 .../Unity/Astar/Meta.cs                       |  3 +-
 .../Unity/Astar/MetaReader.cs                 |  3 +-
 .../Unity/Astar/NodeIndexReader.cs            |  3 +-
 .../Unity/Astar/NodeLink2.cs                  |  3 +-
 .../Unity/Astar/NodeLink2Reader.cs            |  3 +-
 .../Unity/Astar/OffMeshLinkCreator.cs         |  3 +-
 .../Astar/UnityAStarPathfindingImporter.cs    |  3 +-
 .../Astar/UnityAStarPathfindingReader.cs      |  2 +-
 .../Unity/Astar/ZipBinaryReader.cs            |  3 +-
 .../DtCompressedTile.cs                       |  2 +-
 .../DtObstacleRequest.cs                      |  2 +-
 .../DtObstacleRequestAction.cs                |  2 +-
 .../DtObstacleState.cs                        |  2 +-
 src/DotRecast.Detour.TileCache/DtTileCache.cs |  2 +-
 .../DtTileCacheBuilder.cs                     |  2 +-
 .../DtTileCacheContour.cs                     |  2 +-
 .../DtTileCacheContourSet.cs                  |  2 +-
 .../DtTileCacheLayer.cs                       |  2 +-
 .../DtTileCacheLayerBuilder.cs                |  2 +-
 .../DtTileCacheLayerHeader.cs                 |  2 +-
 .../DtTileCacheObstacle.cs                    |  2 +-
 .../DtTileCacheParams.cs                      |  2 +-
 .../DtTileCachePolyMesh.cs                    |  2 +-
 .../DtTileCacheStorageParams.cs               |  2 +-
 .../IDtTileCacheMeshProcess.cs                |  2 +-
 .../Compress/DtTileCacheFastLzCompressor.cs   |  2 +-
 .../Compress/IDtTileCacheCompressorFactory.cs |  2 +-
 .../Io/DtTileCacheLayerHeaderReader.cs        |  2 +-
 .../Io/DtTileCacheLayerHeaderWriter.cs        |  2 +-
 .../Io/DtTileCacheReader.cs                   |  2 +-
 .../Io/DtTileCacheSetHeader.cs                |  2 +-
 .../Io/DtTileCacheWriter.cs                   |  2 +-
 src/DotRecast.Detour/DetourBuilder.cs         |  2 +-
 src/DotRecast.Detour/DtBVNode.cs              |  2 +-
 .../DtConvexConvexIntersections.cs            |  2 +-
 .../DtDefaultQueryHeuristic.cs                |  2 +-
 src/DotRecast.Detour/DtLink.cs                |  2 +-
 src/DotRecast.Detour/DtMeshData.cs            |  2 +-
 src/DotRecast.Detour/DtMeshHeader.cs          |  2 +-
 src/DotRecast.Detour/DtMeshTile.cs            |  2 +-
 src/DotRecast.Detour/DtNavMesh.cs             |  2 +-
 src/DotRecast.Detour/DtNavMeshBuilder.cs      |  2 +-
 src/DotRecast.Detour/DtNavMeshCreateParams.cs |  2 +-
 src/DotRecast.Detour/DtNavMeshParams.cs       |  2 +-
 src/DotRecast.Detour/DtNavMeshQuery.cs        |  2 +-
 src/DotRecast.Detour/DtNavMeshRaycast.cs      |  2 +-
 src/DotRecast.Detour/DtNode.cs                |  2 +-
 src/DotRecast.Detour/DtNodePool.cs            |  2 +-
 src/DotRecast.Detour/DtNodeQueue.cs           |  2 +-
 src/DotRecast.Detour/DtOffMeshConnection.cs   |  2 +-
 src/DotRecast.Detour/DtPathUtils.cs           |  2 +-
 src/DotRecast.Detour/DtPoly.cs                |  2 +-
 src/DotRecast.Detour/DtPolyDetail.cs          |  2 +-
 src/DotRecast.Detour/DtQueryData.cs           |  2 +-
 src/DotRecast.Detour/DtQueryDefaultFilter.cs  |  2 +-
 src/DotRecast.Detour/DtRaycastHit.cs          |  2 +-
 src/DotRecast.Detour/DtStatus.cs              |  2 +-
 src/DotRecast.Detour/DtStraightPath.cs        |  2 +-
 .../IDtPolygonByCircleConstraint.cs           |  2 +-
 src/DotRecast.Detour/IDtQueryFilter.cs        |  2 +-
 src/DotRecast.Detour/IDtQueryHeuristic.cs     |  2 +-
 src/DotRecast.Recast.Demo/DemoSample.cs       |  2 +-
 src/DotRecast.Recast.Demo/Draw/DebugDraw.cs   |  2 +-
 .../Draw/DebugDrawPrimitives.cs               |  2 +-
 src/DotRecast.Recast.Demo/Draw/DrawMode.cs    |  2 +-
 .../Draw/GLCheckerTexture.cs                  |  2 +-
 src/DotRecast.Recast.Demo/Draw/GLU.cs         |  3 +-
 .../Draw/NavMeshRenderer.cs                   |  2 +-
 .../Draw/RecastDebugDraw.cs                   |  2 +-
 src/DotRecast.Recast.Demo/RecastDemo.cs       |  2 +-
 .../Tools/ConvexVolumeSampleTool.cs           |  2 +-
 .../Tools/CrowdAgentProfilingSampleTool.cs    |  2 +-
 .../Tools/CrowdSampleTool.cs                  |  2 +-
 .../Tools/DynamicUpdateSampleTool.cs          |  2 +-
 .../Tools/ISampleTool.cs                      |  2 +-
 .../Tools/OffMeshConnectionSampleTool.cs      |  2 +-
 src/DotRecast.Recast.Demo/UI/IRcView.cs       |  3 +-
 src/DotRecast.Recast.Demo/UI/RcCanvas.cs      |  3 +-
 .../UI/RcSettingsView.cs                      |  3 +-
 src/DotRecast.Recast.Demo/UI/RcToolsetView.cs |  2 +-
 .../Builder/SampleAreaModifications.cs        |  2 +-
 .../Builder/SoloNavMeshBuilder.cs             |  3 +-
 .../Builder/TileNavMeshBuilder.cs             |  3 +-
 .../Geom/DemoInputGeomProvider.cs             |  2 +-
 .../Gizmos/RcSphereGizmo.cs                   |  1 -
 .../Geom/IInputGeomProvider.cs                |  2 +-
 src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs  |  2 +-
 .../Geom/RcOffMeshConnection.cs               |  2 +-
 src/DotRecast.Recast/Geom/RcTriMesh.cs        |  2 +-
 .../Geom/SimpleInputGeomProvider.cs           |  2 +-
 src/DotRecast.Recast/RcAreaModification.cs    |  2 +-
 src/DotRecast.Recast/RcAreas.cs               |  2 +-
 src/DotRecast.Recast/RcBuilder.cs             |  2 +-
 src/DotRecast.Recast/RcBuilderConfig.cs       |  2 +-
 src/DotRecast.Recast/RcCompactCell.cs         |  2 +-
 src/DotRecast.Recast/RcCompactHeightfield.cs  |  2 +-
 src/DotRecast.Recast/RcCompactSpan.cs         |  2 +-
 src/DotRecast.Recast/RcCompacts.cs            |  2 +-
 src/DotRecast.Recast/RcConfig.cs              |  2 +-
 src/DotRecast.Recast/RcContour.cs             |  2 +-
 src/DotRecast.Recast/RcContourSet.cs          |  2 +-
 src/DotRecast.Recast/RcContours.cs            |  2 +-
 src/DotRecast.Recast/RcConvexVolume.cs        |  2 +-
 .../RcFilledVolumeRasterization.cs            |  2 +-
 src/DotRecast.Recast/RcFilters.cs             |  2 +-
 src/DotRecast.Recast/RcHeightfield.cs         |  2 +-
 src/DotRecast.Recast/RcHeightfieldLayerSet.cs |  2 +-
 src/DotRecast.Recast/RcLayers.cs              |  2 +-
 src/DotRecast.Recast/RcMeshDetails.cs         |  2 +-
 src/DotRecast.Recast/RcMeshs.cs               |  2 +-
 src/DotRecast.Recast/RcPolyMesh.cs            |  2 +-
 src/DotRecast.Recast/RcPolyMeshDetail.cs      |  2 +-
 src/DotRecast.Recast/RcPolyMeshRaycast.cs     |  2 +-
 src/DotRecast.Recast/RcRasterizations.cs      |  2 +-
 src/DotRecast.Recast/RcRecast.cs              |  2 +-
 src/DotRecast.Recast/RcRegions.cs             |  2 +-
 src/DotRecast.Recast/RcSpan.cs                |  2 +-
 src/DotRecast.Recast/RcSpanPool.cs            |  2 +-
 src/DotRecast.Recast/RcVoxelizations.cs       |  2 +-
 .../AbstractCrowdTest.cs                      |  2 +-
 .../DotRecast.Detour.Crowd.Test/Crowd1Test.cs |  2 +-
 .../DotRecast.Detour.Crowd.Test/Crowd4Test.cs |  2 +-
 .../Crowd4VelocityTest.cs                     |  2 +-
 .../DtPathCorridorTest.cs                     |  2 +-
 .../RecastTestMeshBuilder.cs                  |  1 +
 .../SampleAreaModifications.cs                |  1 +
 .../Io/DtVoxelTileLZ4ForTestCompressor.cs     |  2 +-
 .../Io/VoxelFileReaderTest.cs                 |  2 +-
 .../Io/VoxelFileReaderWriterTest.cs           |  2 +-
 .../SampleAreaModifications.cs                |  1 +
 .../VoxelQueryTest.cs                         |  2 +-
 .../UnityAStarPathfindingImporterTest.cs      |  3 +-
 .../AbstractDetourTest.cs                     |  4 +-
 .../ConvexConvexIntersectionTest.cs           |  2 +-
 .../FindDistanceToWallTest.cs                 |  1 +
 .../FindLocalNeighbourhoodTest.cs             |  1 +
 .../FindNearestPolyTest.cs                    |  1 +
 test/DotRecast.Detour.Test/FindPathTest.cs    |  1 +
 .../FindPolysAroundCircleTest.cs              |  1 +
 .../FindPolysAroundShapeTest.cs               |  1 +
 .../GetPolyWallSegmentsTest.cs                |  1 +
 .../Io/MeshDataReaderWriterTest.cs            |  4 +-
 .../Io/MeshSetReaderTest.cs                   |  1 +
 .../Io/MeshSetReaderWriterTest.cs             |  1 +
 .../MoveAlongSurfaceTest.cs                   |  1 +
 .../NavMeshBuilderTest.cs                     |  3 +-
 .../PolygonByCircleConstraintTest.cs          |  2 +-
 test/DotRecast.Detour.Test/RandomPointTest.cs |  1 +
 .../RecastTestMeshBuilder.cs                  | 81 +++++++++----------
 .../SampleAreaModifications.cs                |  1 +
 .../TestDetourBuilder.cs                      |  1 +
 .../TestTiledNavMeshBuilder.cs                |  3 +-
 .../TiledFindPathTest.cs                      |  1 +
 .../AbstractTileCacheTest.cs                  |  2 +-
 .../Io/DtTileCacheLZ4ForTestCompressor.cs     |  2 +-
 .../Io/TileCacheReaderTest.cs                 |  2 +-
 .../Io/TileCacheReaderWriterTest.cs           |  2 +-
 .../SampleAreaModifications.cs                |  2 +-
 .../TempObstaclesTest.cs                      |  2 +-
 .../TestTileLayerBuilder.cs                   |  2 +-
 .../TileCacheFindPathTest.cs                  |  2 +-
 .../TileCacheNavigationTest.cs                |  2 +-
 .../TileCacheTest.cs                          |  2 +-
 .../DotRecast.Recast.Test/RecastLayersTest.cs |  1 +
 .../RecastSoloMeshTest.cs                     |  1 +
 test/DotRecast.Recast.Test/RecastTest.cs      |  1 +
 .../RecastTileMeshTest.cs                     |  1 +
 .../SampleAreaModifications.cs                |  1 +
 225 files changed, 289 insertions(+), 248 deletions(-)

diff --git a/src/DotRecast.Core/Collections/RcSortedQueue.cs b/src/DotRecast.Core/Collections/RcSortedQueue.cs
index 60cc406..0c06aad 100644
--- a/src/DotRecast.Core/Collections/RcSortedQueue.cs
+++ b/src/DotRecast.Core/Collections/RcSortedQueue.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/IRcCompressor.cs b/src/DotRecast.Core/IRcCompressor.cs
index 2eda567..ef0bea7 100644
--- a/src/DotRecast.Core/IRcCompressor.cs
+++ b/src/DotRecast.Core/IRcCompressor.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/Numerics/RcVec3f.cs b/src/DotRecast.Core/Numerics/RcVec3f.cs
index 5e8d86a..4c35eb5 100644
--- a/src/DotRecast.Core/Numerics/RcVec3f.cs
+++ b/src/DotRecast.Core/Numerics/RcVec3f.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcByteUtils.cs b/src/DotRecast.Core/RcByteUtils.cs
index ec525f0..0113526 100644
--- a/src/DotRecast.Core/RcByteUtils.cs
+++ b/src/DotRecast.Core/RcByteUtils.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcContext.cs b/src/DotRecast.Core/RcContext.cs
index 8d707d4..e9a8ce9 100644
--- a/src/DotRecast.Core/RcContext.cs
+++ b/src/DotRecast.Core/RcContext.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcConvexUtils.cs b/src/DotRecast.Core/RcConvexUtils.cs
index e1a300b..4fa71b2 100644
--- a/src/DotRecast.Core/RcConvexUtils.cs
+++ b/src/DotRecast.Core/RcConvexUtils.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcIO.cs b/src/DotRecast.Core/RcIO.cs
index 80018bb..f08f89c 100644
--- a/src/DotRecast.Core/RcIO.cs
+++ b/src/DotRecast.Core/RcIO.cs
@@ -1,6 +1,6 @@
 /*
 Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcIntersections.cs b/src/DotRecast.Core/RcIntersections.cs
index 9c5928d..55cf2b3 100644
--- a/src/DotRecast.Core/RcIntersections.cs
+++ b/src/DotRecast.Core/RcIntersections.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcMath.cs b/src/DotRecast.Core/RcMath.cs
index dd21cd0..0b407da 100644
--- a/src/DotRecast.Core/RcMath.cs
+++ b/src/DotRecast.Core/RcMath.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Core/RcObjImporter.cs b/src/DotRecast.Core/RcObjImporter.cs
index 761255c..43d7045 100644
--- a/src/DotRecast.Core/RcObjImporter.cs
+++ b/src/DotRecast.Core/RcObjImporter.cs
@@ -1,6 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 985ac55..55b1c63 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index ab63346..7831af3 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs
index 21a5252..e35712f 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs
index cf204a0..0ba23e4 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
index ca78784..174f164 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdConfig.cs b/src/DotRecast.Detour.Crowd/DtCrowdConfig.cs
index 4424e24..63161aa 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdConfig.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdConfig.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs b/src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs
index b7b88d4..8da7269 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
index 6defc51..85a3818 100644
--- a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
+++ b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs
index a4cd86b..83fb35c 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
index dfa6ceb..eec4693 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 9d543dc..740b271 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtPathQuery.cs b/src/DotRecast.Detour.Crowd/DtPathQuery.cs
index b8d13dd..a5b4b21 100644
--- a/src/DotRecast.Detour.Crowd/DtPathQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathQuery.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtPathQueryResult.cs b/src/DotRecast.Detour.Crowd/DtPathQueryResult.cs
index a63ae75..72200ee 100644
--- a/src/DotRecast.Detour.Crowd/DtPathQueryResult.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathQueryResult.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtPathQueue.cs b/src/DotRecast.Detour.Crowd/DtPathQueue.cs
index fed69d9..5ebf359 100644
--- a/src/DotRecast.Detour.Crowd/DtPathQueue.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathQueue.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Crowd/DtProximityGrid.cs b/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
index 36ffd0e..82a6bb3 100644
--- a/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
+++ b/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs
index 24ffa3d..52fe92b 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs
index 5b0ed35..712eb8d 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs
index 5f964e1..311be48 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs
index eceff0f..989a7af 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs
index 09fce01..a8957a3 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs
index 36dc374..ddce6c9 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs
index a5f2be1..5b73a0a 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs
index 9c76a5d..ccac8f4 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs b/src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs
index 0010bb2..880222c 100644
--- a/src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs
+++ b/src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 555aba5..277b755 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs
index 8f840f9..707ea37 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
index 111f9f2..bf84437 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs
index 24a074a..3f77a6f 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs
index 9957099..e327bf2 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs
index d72c586..16a7a1f 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs b/src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs
index 48ffdcb..7ac420f 100644
--- a/src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs
+++ b/src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs b/src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs
index f7ce42c..12d16be 100644
--- a/src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs
+++ b/src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
index 70b15c6..aa89808 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
index 1f886ab..48af0d3 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
index 0a5cdad..f5a1c97 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs
index b50addc..2c0e17b 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
index 55aedf6..e23c892 100644
--- a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
+++ b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/DtPolyUtils.cs b/src/DotRecast.Detour.Extras/DtPolyUtils.cs
index 3671be5..08a5a84 100644
--- a/src/DotRecast.Detour.Extras/DtPolyUtils.cs
+++ b/src/DotRecast.Detour.Extras/DtPolyUtils.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/ObjExporter.cs b/src/DotRecast.Detour.Extras/ObjExporter.cs
index 526b74a..89ae7b9 100644
--- a/src/DotRecast.Detour.Extras/ObjExporter.cs
+++ b/src/DotRecast.Detour.Extras/ObjExporter.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs b/src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs
index 5728dcc..19034ce 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs
index 1742382..911448c 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs
index b2262db..4ddec03 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs
index f8a8217..9c5b343 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
index bd1dd20..74c7f7f 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs
index fe69eb2..ac79071 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs
index ce39281..3fd5a9e 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
index 8633693..280b260 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs b/src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs
index baa08db..313f818 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs
index 686e7b7..a53566c 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs
index 544bf9d..f45b7ff 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs b/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs
index 9f89e55..e416ee7 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs
index 49add07..992b64a 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs b/src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs
index e19a130..262fb12 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
index 71404ae..663c566 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs
index 05056ff..2e68a58 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
index 6abc219..52eb9c1 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtCompressedTile.cs b/src/DotRecast.Detour.TileCache/DtCompressedTile.cs
index 4b059d3..288389f 100644
--- a/src/DotRecast.Detour.TileCache/DtCompressedTile.cs
+++ b/src/DotRecast.Detour.TileCache/DtCompressedTile.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleRequest.cs b/src/DotRecast.Detour.TileCache/DtObstacleRequest.cs
index f26b289..d2ecadb 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleRequest.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleRequest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs b/src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs
index 92a1aba..f7d59bd 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleState.cs b/src/DotRecast.Detour.TileCache/DtObstacleState.cs
index a28296b..27fc8cd 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleState.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleState.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index 26fce63..356d8e1 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 6c5d059..2a26972 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs b/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
index 4ddcf27..43da3a5 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs b/src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs
index 270c865..34819ae 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
index 09ca45e..e3536ba 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
index 674b680..af50b4f 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs
index 52a9d2c..5ba4708 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
index 3f4d4b5..ff79ef4 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheParams.cs b/src/DotRecast.Detour.TileCache/DtTileCacheParams.cs
index 2ac24c9..390b5e9 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheParams.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheParams.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs b/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
index b80cd73..eebe326 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs b/src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs
index d275540..9e25a94 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs b/src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs
index a854692..9faab14 100644
--- a/src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs
+++ b/src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs b/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs
index b7706ae..d0fd0d3 100644
--- a/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs
+++ b/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/IDtTileCacheCompressorFactory.cs b/src/DotRecast.Detour.TileCache/Io/Compress/IDtTileCacheCompressorFactory.cs
index c0ce433..c42ea9f 100644
--- a/src/DotRecast.Detour.TileCache/Io/Compress/IDtTileCacheCompressorFactory.cs
+++ b/src/DotRecast.Detour.TileCache/Io/Compress/IDtTileCacheCompressorFactory.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
index 2ba481f..8fc9255 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
index 386bba6..312e188 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
index 09aa6a2..5f953ed 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheSetHeader.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheSetHeader.cs
index 85f31b6..3e8d41f 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheSetHeader.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheSetHeader.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
index 74d4582..f916a33 100644
--- a/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
+++ b/src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DetourBuilder.cs b/src/DotRecast.Detour/DetourBuilder.cs
index 7d1422a..046a6d9 100644
--- a/src/DotRecast.Detour/DetourBuilder.cs
+++ b/src/DotRecast.Detour/DetourBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtBVNode.cs b/src/DotRecast.Detour/DtBVNode.cs
index 2e4ff4e..97681dd 100644
--- a/src/DotRecast.Detour/DtBVNode.cs
+++ b/src/DotRecast.Detour/DtBVNode.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtConvexConvexIntersections.cs b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
index c718c99..28aa04e 100644
--- a/src/DotRecast.Detour/DtConvexConvexIntersections.cs
+++ b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtDefaultQueryHeuristic.cs b/src/DotRecast.Detour/DtDefaultQueryHeuristic.cs
index 377d2df..ffd93f9 100644
--- a/src/DotRecast.Detour/DtDefaultQueryHeuristic.cs
+++ b/src/DotRecast.Detour/DtDefaultQueryHeuristic.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtLink.cs b/src/DotRecast.Detour/DtLink.cs
index d0c8fa7..6321f52 100644
--- a/src/DotRecast.Detour/DtLink.cs
+++ b/src/DotRecast.Detour/DtLink.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtMeshData.cs b/src/DotRecast.Detour/DtMeshData.cs
index b6e1b3a..a3b4351 100644
--- a/src/DotRecast.Detour/DtMeshData.cs
+++ b/src/DotRecast.Detour/DtMeshData.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtMeshHeader.cs b/src/DotRecast.Detour/DtMeshHeader.cs
index de3d6a5..0042ede 100644
--- a/src/DotRecast.Detour/DtMeshHeader.cs
+++ b/src/DotRecast.Detour/DtMeshHeader.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtMeshTile.cs b/src/DotRecast.Detour/DtMeshTile.cs
index b285b24..0058154 100644
--- a/src/DotRecast.Detour/DtMeshTile.cs
+++ b/src/DotRecast.Detour/DtMeshTile.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 5a1a9ac..b1a0cad 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index 62f7136..a016139 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMeshCreateParams.cs b/src/DotRecast.Detour/DtNavMeshCreateParams.cs
index 741671f..508851e 100644
--- a/src/DotRecast.Detour/DtNavMeshCreateParams.cs
+++ b/src/DotRecast.Detour/DtNavMeshCreateParams.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMeshParams.cs b/src/DotRecast.Detour/DtNavMeshParams.cs
index 3de5487..45f6521 100644
--- a/src/DotRecast.Detour/DtNavMeshParams.cs
+++ b/src/DotRecast.Detour/DtNavMeshParams.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 1f885d7..cceba0b 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNavMeshRaycast.cs b/src/DotRecast.Detour/DtNavMeshRaycast.cs
index ac1aaca..5d31955 100644
--- a/src/DotRecast.Detour/DtNavMeshRaycast.cs
+++ b/src/DotRecast.Detour/DtNavMeshRaycast.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNode.cs b/src/DotRecast.Detour/DtNode.cs
index c874c38..258be8c 100644
--- a/src/DotRecast.Detour/DtNode.cs
+++ b/src/DotRecast.Detour/DtNode.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNodePool.cs b/src/DotRecast.Detour/DtNodePool.cs
index bc6e99e..08ecf8f 100644
--- a/src/DotRecast.Detour/DtNodePool.cs
+++ b/src/DotRecast.Detour/DtNodePool.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtNodeQueue.cs b/src/DotRecast.Detour/DtNodeQueue.cs
index fd44bfe..a265ad9 100644
--- a/src/DotRecast.Detour/DtNodeQueue.cs
+++ b/src/DotRecast.Detour/DtNodeQueue.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtOffMeshConnection.cs b/src/DotRecast.Detour/DtOffMeshConnection.cs
index 244f005..f55deed 100644
--- a/src/DotRecast.Detour/DtOffMeshConnection.cs
+++ b/src/DotRecast.Detour/DtOffMeshConnection.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtPathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
index fe366b7..24dd8a6 100644
--- a/src/DotRecast.Detour/DtPathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtPoly.cs b/src/DotRecast.Detour/DtPoly.cs
index 5faa88a..62c2aec 100644
--- a/src/DotRecast.Detour/DtPoly.cs
+++ b/src/DotRecast.Detour/DtPoly.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtPolyDetail.cs b/src/DotRecast.Detour/DtPolyDetail.cs
index 7ea88c6..53fabec 100644
--- a/src/DotRecast.Detour/DtPolyDetail.cs
+++ b/src/DotRecast.Detour/DtPolyDetail.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtQueryData.cs b/src/DotRecast.Detour/DtQueryData.cs
index 6d1e455..8997614 100644
--- a/src/DotRecast.Detour/DtQueryData.cs
+++ b/src/DotRecast.Detour/DtQueryData.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtQueryDefaultFilter.cs b/src/DotRecast.Detour/DtQueryDefaultFilter.cs
index 4a10d5a..08f13ac 100644
--- a/src/DotRecast.Detour/DtQueryDefaultFilter.cs
+++ b/src/DotRecast.Detour/DtQueryDefaultFilter.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtRaycastHit.cs b/src/DotRecast.Detour/DtRaycastHit.cs
index d087ed8..58c79ac 100644
--- a/src/DotRecast.Detour/DtRaycastHit.cs
+++ b/src/DotRecast.Detour/DtRaycastHit.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtStatus.cs b/src/DotRecast.Detour/DtStatus.cs
index d025408..998783b 100644
--- a/src/DotRecast.Detour/DtStatus.cs
+++ b/src/DotRecast.Detour/DtStatus.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/DtStraightPath.cs b/src/DotRecast.Detour/DtStraightPath.cs
index 2ad3313..f51c5f3 100644
--- a/src/DotRecast.Detour/DtStraightPath.cs
+++ b/src/DotRecast.Detour/DtStraightPath.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs b/src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs
index e0927a4..9f46ff3 100644
--- a/src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/IDtQueryFilter.cs b/src/DotRecast.Detour/IDtQueryFilter.cs
index a51213d..f4f5572 100644
--- a/src/DotRecast.Detour/IDtQueryFilter.cs
+++ b/src/DotRecast.Detour/IDtQueryFilter.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Detour/IDtQueryHeuristic.cs b/src/DotRecast.Detour/IDtQueryHeuristic.cs
index aa71931..2600dd4 100644
--- a/src/DotRecast.Detour/IDtQueryHeuristic.cs
+++ b/src/DotRecast.Detour/IDtQueryHeuristic.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/DemoSample.cs b/src/DotRecast.Recast.Demo/DemoSample.cs
index ee62edf..f87f4cb 100644
--- a/src/DotRecast.Recast.Demo/DemoSample.cs
+++ b/src/DotRecast.Recast.Demo/DemoSample.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
index 5374158..4bd293a 100644
--- a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs b/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs
index e77dbe4..9278210 100644
--- a/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs
+++ b/src/DotRecast.Recast.Demo/Draw/DebugDrawPrimitives.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/DrawMode.cs b/src/DotRecast.Recast.Demo/Draw/DrawMode.cs
index ff2911d..2fd15fa 100644
--- a/src/DotRecast.Recast.Demo/Draw/DrawMode.cs
+++ b/src/DotRecast.Recast.Demo/Draw/DrawMode.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs b/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs
index e044757..66d0cea 100644
--- a/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs
+++ b/src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/GLU.cs b/src/DotRecast.Recast.Demo/Draw/GLU.cs
index 3868787..6a7510f 100644
--- a/src/DotRecast.Recast.Demo/Draw/GLU.cs
+++ b/src/DotRecast.Recast.Demo/Draw/GLU.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
index 6b3d4c7..c6b9dec 100644
--- a/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index 5e68a52..00203bb 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs
index 44d2576..e1d394f 100644
--- a/src/DotRecast.Recast.Demo/RecastDemo.cs
+++ b/src/DotRecast.Recast.Demo/RecastDemo.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/ConvexVolumeSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeSampleTool.cs
index 48d7317..1ed196f 100644
--- a/src/DotRecast.Recast.Demo/Tools/ConvexVolumeSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/ConvexVolumeSampleTool.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
index b682662..a2b06d5 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
index 9c5d96f..eb67223 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
index 4d6c3d6..fd54f71 100644
--- a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/ISampleTool.cs b/src/DotRecast.Recast.Demo/Tools/ISampleTool.cs
index bd9490d..5fef1ba 100644
--- a/src/DotRecast.Recast.Demo/Tools/ISampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/ISampleTool.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionSampleTool.cs
index feb38f9..0e302d1 100644
--- a/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/OffMeshConnectionSampleTool.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/UI/IRcView.cs b/src/DotRecast.Recast.Demo/UI/IRcView.cs
index 677e441..c3d6b93 100644
--- a/src/DotRecast.Recast.Demo/UI/IRcView.cs
+++ b/src/DotRecast.Recast.Demo/UI/IRcView.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/UI/RcCanvas.cs b/src/DotRecast.Recast.Demo/UI/RcCanvas.cs
index 2e6c756..c24503d 100644
--- a/src/DotRecast.Recast.Demo/UI/RcCanvas.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcCanvas.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/UI/RcSettingsView.cs b/src/DotRecast.Recast.Demo/UI/RcSettingsView.cs
index 5ca0de5..eedcd12 100644
--- a/src/DotRecast.Recast.Demo/UI/RcSettingsView.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcSettingsView.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Demo/UI/RcToolsetView.cs b/src/DotRecast.Recast.Demo/UI/RcToolsetView.cs
index 97f165b..4b65f8d 100644
--- a/src/DotRecast.Recast.Demo/UI/RcToolsetView.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcToolsetView.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs b/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
index 367698c..47545e7 100644
--- a/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
index 3d13771..4d01aec 100644
--- a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
index 0132714..befe1b2 100644
--- a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 2161945..353d94c 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
index 06a93be..0e9cb70 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
@@ -1,7 +1,6 @@
 using DotRecast.Core.Numerics;
 using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
 
-
 namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcSphereGizmo : IRcGizmoMeshFilter
diff --git a/src/DotRecast.Recast/Geom/IInputGeomProvider.cs b/src/DotRecast.Recast/Geom/IInputGeomProvider.cs
index 32215bb..2b9e28e 100644
--- a/src/DotRecast.Recast/Geom/IInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/IInputGeomProvider.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
index 361483a..d62a8d7 100644
--- a/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/Geom/RcOffMeshConnection.cs b/src/DotRecast.Recast/Geom/RcOffMeshConnection.cs
index 599c53a..4ebf712 100644
--- a/src/DotRecast.Recast/Geom/RcOffMeshConnection.cs
+++ b/src/DotRecast.Recast/Geom/RcOffMeshConnection.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/Geom/RcTriMesh.cs b/src/DotRecast.Recast/Geom/RcTriMesh.cs
index c858260..cba5dd4 100644
--- a/src/DotRecast.Recast/Geom/RcTriMesh.cs
+++ b/src/DotRecast.Recast/Geom/RcTriMesh.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
index ed4477c..bef11fc 100644
--- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcAreaModification.cs b/src/DotRecast.Recast/RcAreaModification.cs
index 00df1f5..a7ba4e8 100644
--- a/src/DotRecast.Recast/RcAreaModification.cs
+++ b/src/DotRecast.Recast/RcAreaModification.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcAreas.cs b/src/DotRecast.Recast/RcAreas.cs
index 2f987d9..75d68f8 100644
--- a/src/DotRecast.Recast/RcAreas.cs
+++ b/src/DotRecast.Recast/RcAreas.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcBuilder.cs b/src/DotRecast.Recast/RcBuilder.cs
index 78ff7d0..71acf7f 100644
--- a/src/DotRecast.Recast/RcBuilder.cs
+++ b/src/DotRecast.Recast/RcBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcBuilderConfig.cs b/src/DotRecast.Recast/RcBuilderConfig.cs
index 31fda79..2dd6b24 100644
--- a/src/DotRecast.Recast/RcBuilderConfig.cs
+++ b/src/DotRecast.Recast/RcBuilderConfig.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcCompactCell.cs b/src/DotRecast.Recast/RcCompactCell.cs
index befed70..43b2f8f 100644
--- a/src/DotRecast.Recast/RcCompactCell.cs
+++ b/src/DotRecast.Recast/RcCompactCell.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcCompactHeightfield.cs b/src/DotRecast.Recast/RcCompactHeightfield.cs
index 9148d24..d16c592 100644
--- a/src/DotRecast.Recast/RcCompactHeightfield.cs
+++ b/src/DotRecast.Recast/RcCompactHeightfield.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcCompactSpan.cs b/src/DotRecast.Recast/RcCompactSpan.cs
index 7f61001..8000520 100644
--- a/src/DotRecast.Recast/RcCompactSpan.cs
+++ b/src/DotRecast.Recast/RcCompactSpan.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcCompacts.cs b/src/DotRecast.Recast/RcCompacts.cs
index 3ee1f47..906d78d 100644
--- a/src/DotRecast.Recast/RcCompacts.cs
+++ b/src/DotRecast.Recast/RcCompacts.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcConfig.cs b/src/DotRecast.Recast/RcConfig.cs
index 98e7bb2..bedfbdb 100644
--- a/src/DotRecast.Recast/RcConfig.cs
+++ b/src/DotRecast.Recast/RcConfig.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcContour.cs b/src/DotRecast.Recast/RcContour.cs
index 2deb6d5..df78da5 100644
--- a/src/DotRecast.Recast/RcContour.cs
+++ b/src/DotRecast.Recast/RcContour.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcContourSet.cs b/src/DotRecast.Recast/RcContourSet.cs
index ed0e6f1..466ed5f 100644
--- a/src/DotRecast.Recast/RcContourSet.cs
+++ b/src/DotRecast.Recast/RcContourSet.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcContours.cs b/src/DotRecast.Recast/RcContours.cs
index f73ae46..3719d4a 100644
--- a/src/DotRecast.Recast/RcContours.cs
+++ b/src/DotRecast.Recast/RcContours.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcConvexVolume.cs b/src/DotRecast.Recast/RcConvexVolume.cs
index 591859b..5dd3140 100644
--- a/src/DotRecast.Recast/RcConvexVolume.cs
+++ b/src/DotRecast.Recast/RcConvexVolume.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index 8c7a5c4..2ddacd4 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcFilters.cs b/src/DotRecast.Recast/RcFilters.cs
index dcf3383..6e6842a 100644
--- a/src/DotRecast.Recast/RcFilters.cs
+++ b/src/DotRecast.Recast/RcFilters.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcHeightfield.cs b/src/DotRecast.Recast/RcHeightfield.cs
index b5eaba9..c71ef3c 100644
--- a/src/DotRecast.Recast/RcHeightfield.cs
+++ b/src/DotRecast.Recast/RcHeightfield.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcHeightfieldLayerSet.cs b/src/DotRecast.Recast/RcHeightfieldLayerSet.cs
index 5348302..1bbf740 100644
--- a/src/DotRecast.Recast/RcHeightfieldLayerSet.cs
+++ b/src/DotRecast.Recast/RcHeightfieldLayerSet.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index b7911ee..aa1f03e 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 30ccb7d..7cead00 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcMeshs.cs b/src/DotRecast.Recast/RcMeshs.cs
index eee15ae..b4cdf83 100644
--- a/src/DotRecast.Recast/RcMeshs.cs
+++ b/src/DotRecast.Recast/RcMeshs.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcPolyMesh.cs b/src/DotRecast.Recast/RcPolyMesh.cs
index 48a547f..5014849 100644
--- a/src/DotRecast.Recast/RcPolyMesh.cs
+++ b/src/DotRecast.Recast/RcPolyMesh.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcPolyMeshDetail.cs b/src/DotRecast.Recast/RcPolyMeshDetail.cs
index e9e1b21..78a90d2 100644
--- a/src/DotRecast.Recast/RcPolyMeshDetail.cs
+++ b/src/DotRecast.Recast/RcPolyMeshDetail.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcPolyMeshRaycast.cs b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
index 845b6ec..279538e 100644
--- a/src/DotRecast.Recast/RcPolyMeshRaycast.cs
+++ b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs
index fdceef8..5e5e164 100644
--- a/src/DotRecast.Recast/RcRasterizations.cs
+++ b/src/DotRecast.Recast/RcRasterizations.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcRecast.cs b/src/DotRecast.Recast/RcRecast.cs
index b0599d9..45a17f7 100644
--- a/src/DotRecast.Recast/RcRecast.cs
+++ b/src/DotRecast.Recast/RcRecast.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcRegions.cs b/src/DotRecast.Recast/RcRegions.cs
index 137ba46..9fab149 100644
--- a/src/DotRecast.Recast/RcRegions.cs
+++ b/src/DotRecast.Recast/RcRegions.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcSpan.cs b/src/DotRecast.Recast/RcSpan.cs
index 068c073..814d686 100644
--- a/src/DotRecast.Recast/RcSpan.cs
+++ b/src/DotRecast.Recast/RcSpan.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcSpanPool.cs b/src/DotRecast.Recast/RcSpanPool.cs
index 3422103..6e2b59a 100644
--- a/src/DotRecast.Recast/RcSpanPool.cs
+++ b/src/DotRecast.Recast/RcSpanPool.cs
@@ -1,6 +1,6 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/src/DotRecast.Recast/RcVoxelizations.cs b/src/DotRecast.Recast/RcVoxelizations.cs
index 5c772ad..a6d8d4b 100644
--- a/src/DotRecast.Recast/RcVoxelizations.cs
+++ b/src/DotRecast.Recast/RcVoxelizations.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
index 720e63a..248bd1b 100644
--- a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs b/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs
index 23b60ac..e178b70 100644
--- a/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs
+++ b/test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs b/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs
index 30613fb..a0b2af8 100644
--- a/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs
+++ b/test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs b/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs
index b619d06..14a0fbf 100644
--- a/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
index 00b1763..2c0bd48 100644
--- a/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/DtPathCorridorTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
index bacecb9..39a362a 100644
--- a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
+++ b/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs
index 742e079..aa2d399 100644
--- a/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs
+++ b/test/DotRecast.Detour.Crowd.Test/SampleAreaModifications.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs b/test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs
index a5fab28..958a4b1 100644
--- a/test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
index 07e8b31..cb67afd 100644
--- a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
index ab3e79d..75eb73b 100644
--- a/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs
index f2ea293..6f933b0 100644
--- a/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/SampleAreaModifications.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
index 63b7a76..6024013 100644
--- a/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs b/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
index c903ce7..5912061 100644
--- a/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
+++ b/test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs
@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/AbstractDetourTest.cs b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
index 55652f5..01c2996 100644
--- a/test/DotRecast.Detour.Test/AbstractDetourTest.cs
+++ b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -65,7 +65,7 @@ public abstract class AbstractDetourTest
     protected DtNavMesh CreateNavMesh()
     {
         var mesh = new DtNavMesh();
-        mesh.Init(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
+        mesh.Init(RecastTestMeshBuilder.Create(), 6, 0);
         return mesh;
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs b/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs
index 012ecf9..f78f331 100644
--- a/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs
+++ b/test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs b/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs
index 4fe79a1..f3ad19c 100644
--- a/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs
+++ b/test/DotRecast.Detour.Test/FindDistanceToWallTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs b/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs
index 662d9d0..300c9c6 100644
--- a/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs
+++ b/test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
index 2f6a25a..894fd50 100644
--- a/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
+++ b/test/DotRecast.Detour.Test/FindNearestPolyTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindPathTest.cs b/test/DotRecast.Detour.Test/FindPathTest.cs
index 92069d1..e00dc86 100644
--- a/test/DotRecast.Detour.Test/FindPathTest.cs
+++ b/test/DotRecast.Detour.Test/FindPathTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs b/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
index 5c0be03..f71979e 100644
--- a/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
+++ b/test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs b/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs
index 6bae858..653ca66 100644
--- a/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs
+++ b/test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
index b05f52d..c24b405 100644
--- a/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
+++ b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
index acb8ad8..43b1207 100644
--- a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -32,8 +33,7 @@ public class MeshDataReaderWriterTest
     [SetUp]
     public void SetUp()
     {
-        RecastTestMeshBuilder rcBuilder = new RecastTestMeshBuilder();
-        meshData = rcBuilder.GetMeshData();
+        meshData = RecastTestMeshBuilder.Create();
     }
 
     [Test]
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
index a723b61..e23f621 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
index af50c50..58e37a1 100644
--- a/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
index 26179a1..22ae8e1 100644
--- a/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
+++ b/test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
index 5fc7d68..bcb27f8 100644
--- a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
+++ b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -30,7 +31,7 @@ public class NavMeshBuilderTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
+        nmd = RecastTestMeshBuilder.Create();
     }
 
     [Test]
diff --git a/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
index 070848a..7e7c231 100644
--- a/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
+++ b/test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs
@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs
index c8dc58f..414f116 100644
--- a/test/DotRecast.Detour.Test/RandomPointTest.cs
+++ b/test/DotRecast.Detour.Test/RandomPointTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2021 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
index 12c618e..2ec3e9e 100644
--- a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
+++ b/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,15 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public class RecastTestMeshBuilder
+public static class RecastTestMeshBuilder
 {
-    private readonly DtMeshData meshData;
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
     private const float m_agentHeight = 2.0f;
@@ -39,27 +38,24 @@ public class RecastTestMeshBuilder
     private const float m_detailSampleDist = 6.0f;
     private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partition,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
             partition,
             cellSize, cellHeight,
@@ -73,31 +69,31 @@ public class RecastTestMeshBuilder
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
         RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
-        RcPolyMesh m_pmesh = rcResult.Mesh;
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        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.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        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;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -120,11 +116,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.Test/SampleAreaModifications.cs
index 73ce304..eff5001 100644
--- a/test/DotRecast.Detour.Test/SampleAreaModifications.cs
+++ b/test/DotRecast.Detour.Test/SampleAreaModifications.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/TestDetourBuilder.cs b/test/DotRecast.Detour.Test/TestDetourBuilder.cs
index 4df7c6d..83f9a9f 100644
--- a/test/DotRecast.Detour.Test/TestDetourBuilder.cs
+++ b/test/DotRecast.Detour.Test/TestDetourBuilder.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
index e82a3a2..5773ca5 100644
--- a/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
+++ b/test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -119,7 +120,7 @@ public class TestTiledNavMeshBuilder
             option.tileX = result.TileX;
             option.tileZ = result.TileZ;
             option.buildBvTree = true;
-            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
+            navMesh.AddTile(Detour.DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
         }
     }
 
diff --git a/test/DotRecast.Detour.Test/TiledFindPathTest.cs b/test/DotRecast.Detour.Test/TiledFindPathTest.cs
index 09d712c..c57f2e8 100644
--- a/test/DotRecast.Detour.Test/TiledFindPathTest.cs
+++ b/test/DotRecast.Detour.Test/TiledFindPathTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
index 81ba262..1bf5e71 100644
--- a/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs b/test/DotRecast.Detour.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs
index 0a22d94..e08f3e6 100644
--- a/test/DotRecast.Detour.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs
+++ b/test/DotRecast.Detour.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
index 96205a0..dbb5e7a 100644
--- a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs
index f4430c5..a1e1833 100644
--- a/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs b/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs
index ecdf2fe..11ca622 100644
--- a/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs
+++ b/test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
index add9cfc..0286580 100644
--- a/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
index 17d4224..b3a2d99 100644
--- a/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
index 0bf3f7a..4f381e0 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs
index 6ec738a..86b6247 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs
index f31569c..9026efe 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs
@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Recast.Test/RecastLayersTest.cs b/test/DotRecast.Recast.Test/RecastLayersTest.cs
index 61a6cb8..7641d64 100644
--- a/test/DotRecast.Recast.Test/RecastLayersTest.cs
+++ b/test/DotRecast.Recast.Test/RecastLayersTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
index 6945437..d187e10 100644
--- a/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
+++ b/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Recast.Test/RecastTest.cs b/test/DotRecast.Recast.Test/RecastTest.cs
index 949db86..2b9fb6c 100644
--- a/test/DotRecast.Recast.Test/RecastTest.cs
+++ b/test/DotRecast.Recast.Test/RecastTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Recast.Test/RecastTileMeshTest.cs b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs
index 6fa4676..39f9d91 100644
--- a/test/DotRecast.Recast.Test/RecastTileMeshTest.cs
+++ b/test/DotRecast.Recast.Test/RecastTileMeshTest.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
diff --git a/test/DotRecast.Recast.Test/SampleAreaModifications.cs b/test/DotRecast.Recast.Test/SampleAreaModifications.cs
index 61c8ec3..1941dd0 100644
--- a/test/DotRecast.Recast.Test/SampleAreaModifications.cs
+++ b/test/DotRecast.Recast.Test/SampleAreaModifications.cs
@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

From 104b5b02b2850f25f63055c7ec6584fecaf2a75e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 25 May 2024 23:01:16 +0900
Subject: [PATCH 052/147] cleanup TestMeshDataFactory

---
 test/DotRecast.Detour.Test/AbstractDetourTest.cs               | 2 +-
 test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs      | 2 +-
 test/DotRecast.Detour.Test/NavMeshBuilderTest.cs               | 2 +-
 .../{RecastTestMeshBuilder.cs => TestMeshDataFactory.cs}       | 2 +-
 test/DotRecast.Recast.Test/RecastLayersTest.cs                 | 3 ---
 5 files changed, 4 insertions(+), 7 deletions(-)
 rename test/DotRecast.Detour.Test/{RecastTestMeshBuilder.cs => TestMeshDataFactory.cs} (99%)

diff --git a/test/DotRecast.Detour.Test/AbstractDetourTest.cs b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
index 01c2996..41eb9ac 100644
--- a/test/DotRecast.Detour.Test/AbstractDetourTest.cs
+++ b/test/DotRecast.Detour.Test/AbstractDetourTest.cs
@@ -65,7 +65,7 @@ public abstract class AbstractDetourTest
     protected DtNavMesh CreateNavMesh()
     {
         var mesh = new DtNavMesh();
-        mesh.Init(RecastTestMeshBuilder.Create(), 6, 0);
+        mesh.Init(TestMeshDataFactory.Create(), 6, 0);
         return mesh;
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
index 43b1207..c5872ba 100644
--- a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
@@ -33,7 +33,7 @@ public class MeshDataReaderWriterTest
     [SetUp]
     public void SetUp()
     {
-        meshData = RecastTestMeshBuilder.Create();
+        meshData = TestMeshDataFactory.Create();
     }
 
     [Test]
diff --git a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
index bcb27f8..c2900e5 100644
--- a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
+++ b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
@@ -31,7 +31,7 @@ public class NavMeshBuilderTest
     [SetUp]
     public void SetUp()
     {
-        nmd = RecastTestMeshBuilder.Create();
+        nmd = TestMeshDataFactory.Create();
     }
 
     [Test]
diff --git a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Test/TestMeshDataFactory.cs
similarity index 99%
rename from test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
rename to test/DotRecast.Detour.Test/TestMeshDataFactory.cs
index 2ec3e9e..fec3aab 100644
--- a/test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs
+++ b/test/DotRecast.Detour.Test/TestMeshDataFactory.cs
@@ -22,7 +22,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public static class RecastTestMeshBuilder
+public static class TestMeshDataFactory
 {
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
diff --git a/test/DotRecast.Recast.Test/RecastLayersTest.cs b/test/DotRecast.Recast.Test/RecastLayersTest.cs
index 7641d64..f13689a 100644
--- a/test/DotRecast.Recast.Test/RecastLayersTest.cs
+++ b/test/DotRecast.Recast.Test/RecastLayersTest.cs
@@ -25,9 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-
-
-
 public class RecastLayersTest
 {
     private const float m_cellSize = 0.3f;

From e9c8b3eddf063c2c9d16bc9fe5364905e6c7d275 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 27 May 2024 00:01:14 +0900
Subject: [PATCH 053/147] added RcIO Tests

---
 test/DotRecast.Core.Test/RcIoTests.cs | 38 +++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 test/DotRecast.Core.Test/RcIoTests.cs

diff --git a/test/DotRecast.Core.Test/RcIoTests.cs b/test/DotRecast.Core.Test/RcIoTests.cs
new file mode 100644
index 0000000..c54d50b
--- /dev/null
+++ b/test/DotRecast.Core.Test/RcIoTests.cs
@@ -0,0 +1,38 @@
+using System;
+using System.IO;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcIoTests
+{
+    [Test]
+    public void Test()
+    {
+        const long tileRef = 281474976710656L;
+        const int dataSize = 344;
+        
+        byte[] actual;
+        
+        {
+            using MemoryStream ms = new MemoryStream();
+            using BinaryWriter bw = new BinaryWriter(ms);
+
+            RcIO.Write(bw, tileRef, RcByteOrder.LITTLE_ENDIAN);
+            RcIO.Write(bw, dataSize, RcByteOrder.LITTLE_ENDIAN);
+
+            bw.Flush();
+            actual= ms.ToArray();
+        }
+
+        {
+            using MemoryStream ms = new MemoryStream(actual);
+            using BinaryReader br = new BinaryReader(ms);
+            var byteBuffer = RcIO.ToByteBuffer(br);
+            byteBuffer.Order(RcByteOrder.LITTLE_ENDIAN);
+
+            Assert.That(byteBuffer.GetLong(), Is.EqualTo(tileRef));
+            Assert.That(byteBuffer.GetInt(), Is.EqualTo(dataSize));
+        }
+    }
+}
\ No newline at end of file

From 2acbdf8c5399896df3dee3cce85fec8aab81caa5 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 28 May 2024 00:06:21 +0900
Subject: [PATCH 054/147] changed RecastTestMeshBuilder to TestMeshDataFactory

---
 .../AbstractCrowdTest.cs                      |   2 +-
 ...tMeshBuilder.cs => TestMeshDataFactory.cs} | 107 ++++++++----------
 2 files changed, 51 insertions(+), 58 deletions(-)
 rename test/DotRecast.Detour.Crowd.Test/{RecastTestMeshBuilder.cs => TestMeshDataFactory.cs} (53%)

diff --git a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
index 248bd1b..b2f186d 100644
--- a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
@@ -62,7 +62,7 @@ public class AbstractCrowdTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
+        nmd = TestMeshDataFactory.Create();
         navmesh = new DtNavMesh();
         navmesh.Init(nmd, 6, 0);
         query = new DtNavMeshQuery(navmesh);
diff --git a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs b/test/DotRecast.Detour.Crowd.Test/TestMeshDataFactory.cs
similarity index 53%
rename from test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
rename to test/DotRecast.Detour.Crowd.Test/TestMeshDataFactory.cs
index 39a362a..d186f77 100644
--- a/test/DotRecast.Detour.Crowd.Test/RecastTestMeshBuilder.cs
+++ b/test/DotRecast.Detour.Crowd.Test/TestMeshDataFactory.cs
@@ -23,46 +23,42 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class RecastTestMeshBuilder
+public class TestMeshDataFactory
 {
-    private readonly DtMeshData meshData;
-    public const float m_cellSize = 0.3f;
-    public const float m_cellHeight = 0.2f;
-    public const float m_agentHeight = 2.0f;
-    public const float m_agentRadius = 0.6f;
-    public const float m_agentMaxClimb = 0.9f;
-    public const float m_agentMaxSlope = 45.0f;
-    public const int m_regionMinSize = 8;
-    public const int m_regionMergeSize = 20;
-    public const float m_edgeMaxLen = 12.0f;
-    public const float m_edgeMaxError = 1.3f;
-    public const int m_vertsPerPoly = 6;
-    public const float m_detailSampleDist = 6.0f;
-    public const float m_detailSampleMaxError = 1.0f;
+    private const float m_cellSize = 0.3f;
+    private const float m_cellHeight = 0.2f;
+    private const float m_agentHeight = 2.0f;
+    private const float m_agentRadius = 0.6f;
+    private const float m_agentMaxClimb = 0.9f;
+    private const float m_agentMaxSlope = 45.0f;
+    private const int m_regionMinSize = 8;
+    private const int m_regionMergeSize = 20;
+    private const float m_edgeMaxLen = 12.0f;
+    private const float m_edgeMaxError = 1.3f;
+    private const int m_vertsPerPoly = 6;
+    private const float m_detailSampleDist = 6.0f;
+    private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partitionType,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
-            partitionType,
+            partition,
             cellSize, cellHeight,
             agentMaxSlope, agentHeight, agentRadius, agentMaxClimb,
             regionMinSize, regionMergeSize,
@@ -74,31 +70,31 @@ public class RecastTestMeshBuilder
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
         RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
-        RcPolyMesh m_pmesh = rcResult.Mesh;
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        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.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        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;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -121,11 +117,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }
\ No newline at end of file

From 17ecdb1cc718f103c58b4abdcb9bfd5c630c77ec Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 30 May 2024 22:53:01 +0900
Subject: [PATCH 055/147] added RcMath.Lerp()

---
 src/DotRecast.Core/RcMath.cs           |  6 ++++
 test/DotRecast.Core.Test/RcMathTest.cs | 38 ++++++++++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 test/DotRecast.Core.Test/RcMathTest.cs

diff --git a/src/DotRecast.Core/RcMath.cs b/src/DotRecast.Core/RcMath.cs
index 0b407da..b981bd1 100644
--- a/src/DotRecast.Core/RcMath.cs
+++ b/src/DotRecast.Core/RcMath.cs
@@ -29,5 +29,11 @@ namespace DotRecast.Core
         {
             return f * f;
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Lerp(float value1, float value2, float amount)
+        {
+            return (value1 * (1.0f - amount)) + (value2 * amount);
+        }
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Core.Test/RcMathTest.cs b/test/DotRecast.Core.Test/RcMathTest.cs
new file mode 100644
index 0000000..9bdda89
--- /dev/null
+++ b/test/DotRecast.Core.Test/RcMathTest.cs
@@ -0,0 +1,38 @@
+using System;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcMathTest
+{
+    [Test]
+    public void TestSqr()
+    {
+        Assert.That(RcMath.Sqr(0), Is.EqualTo(0));
+        Assert.That(RcMath.Sqr(5), Is.EqualTo(25));
+        Assert.That(RcMath.Sqr(-5), Is.EqualTo(25));
+        Assert.That(RcMath.Sqr(float.PositiveInfinity), Is.EqualTo(float.PositiveInfinity));
+        Assert.That(RcMath.Sqr(float.NegativeInfinity), Is.EqualTo(float.PositiveInfinity));
+        Assert.That(RcMath.Sqr(float.NaN), Is.EqualTo(float.NaN));
+    }
+
+    [Test]
+    public void TestLerp()
+    {
+        //
+        Assert.That(RcMath.Lerp(-10, 10, 2f), Is.EqualTo(30));
+        Assert.That(RcMath.Lerp(-10, 10, 1f), Is.EqualTo(10));
+        Assert.That(RcMath.Lerp(-10, 10, 0.5f), Is.EqualTo(0));
+        Assert.That(RcMath.Lerp(-10, 10, 0.25f), Is.EqualTo(-5));
+        Assert.That(RcMath.Lerp(-10, 10, 0), Is.EqualTo(-10));
+        Assert.That(RcMath.Lerp(-10, 10, -0.5f), Is.EqualTo(-20));
+        Assert.That(RcMath.Lerp(-10, 10, -1f), Is.EqualTo(-30));
+
+        //
+        Assert.That(RcMath.Lerp(10, 10, 0.5f), Is.EqualTo(10));
+        Assert.That(RcMath.Lerp(10, 10, 0.8f), Is.EqualTo(10));
+
+        //
+        Assert.That(RcMath.Lerp(10, -10, 0.75f), Is.EqualTo(-5));
+    }
+}
\ No newline at end of file

From e9a5512bb2fac6777ec406adc11350d87c36196d Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 30 May 2024 22:55:47 +0900
Subject: [PATCH 056/147] public class EdgeSamplerFactory

---
 src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs    | 7 ++++---
 src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs | 2 +-
 src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs | 2 +-
 src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs     | 5 +++--
 .../Jumplink/NavMeshGroundSampler.cs                       | 2 +-
 src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs         | 5 -----
 src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs  | 2 +-
 7 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
index e11ac57..a8abd77 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
@@ -1,4 +1,5 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
@@ -9,9 +10,9 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             return new RcVec3f()
             {
-                X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
-                Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
-                Z = Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
+                X = RcMath.Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
+                Y = RcMath.Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
+                Z = RcMath.Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
             };
         }
     }
diff --git a/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs b/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
index 3b0b976..01c16d7 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
@@ -3,7 +3,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class EdgeSamplerFactory
+    public class EdgeSamplerFactory
     {
         public EdgeSampler Get(JumpLinkBuilderConfig acfg, JumpLinkType type, JumpEdge edge)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
index e4fc68d..73f5758 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
@@ -4,7 +4,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class JumpSegmentBuilder
+    public class JumpSegmentBuilder
     {
         public JumpSegment[] Build(JumpLinkBuilderConfig acfg, EdgeSampler es)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
index 07221db..080eff3 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
@@ -1,4 +1,5 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
@@ -16,9 +17,9 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             return new RcVec3f
             {
-                X = Lerp(start.X, end.X, u), 
+                X = RcMath.Lerp(start.X, end.X, u),
                 Y = InterpolateHeight(start.Y, end.Y, u),
-                Z = Lerp(start.Z, end.Z, u)
+                Z = RcMath.Lerp(start.Z, end.Z, u)
             };
         }
 
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index 5a62246..b14de89 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -4,7 +4,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class NavMeshGroundSampler : AbstractGroundSampler
+    public class NavMeshGroundSampler : AbstractGroundSampler
     {
         public override void Sample(JumpLinkBuilderConfig acfg, RcBuilderResult result, EdgeSampler es)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
index 4e3cc7d..e51802c 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
@@ -5,11 +5,6 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class Trajectory
     {
-        public float Lerp(float f, float g, float u)
-        {
-            return u * g + (1f - u) * f;
-        }
-
         public virtual RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             throw new NotImplementedException();
diff --git a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
index dc2dc6f..a2ec1f1 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
@@ -5,7 +5,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class TrajectorySampler
+    public class TrajectorySampler
     {
         public void Sample(JumpLinkBuilderConfig acfg, RcHeightfield heightfield, EdgeSampler es)
         {

From d94408f7a14acd05638647d45428328f45d57f0f Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 31 May 2024 22:36:57 +0900
Subject: [PATCH 057/147] Changed class `Trajectory` to interface `ITrajectory`

---
 CHANGELOG.md                                        |  1 +
 .../Jumplink/ClimbTrajectory.cs                     |  4 ++--
 .../Jumplink/EdgeExtractor.cs                       |  4 ++--
 src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs |  4 ++--
 .../Jumplink/GroundSample.cs                        |  2 +-
 .../Jumplink/GroundSegment.cs                       |  4 ++--
 src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs | 10 ++++++++++
 src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs    |  2 +-
 .../Jumplink/JumpTrajectory.cs                      |  4 ++--
 src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs  | 13 -------------
 .../Jumplink/TrajectorySampler.cs                   |  2 +-
 .../Tools/JumpLinkBuilderSampleTool.cs              |  2 +-
 12 files changed, 25 insertions(+), 27 deletions(-)
 create mode 100644 src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
 delete mode 100644 src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9f0176e..c20195b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `MAX_STEER_POINTS` from class constant to local. 
 - Changed `List<DtStraightPath>` to `Span<DtStraightPath>` for enhanced memory efficiency
 - Changed `DtWriter` to a static class and renamed it to `RcIO`
+- Changed class `Trajectory` to interface `ITrajectory`
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
index a8abd77..978d6ef 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
@@ -4,9 +4,9 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    public class ClimbTrajectory : Trajectory
+    public class ClimbTrajectory : ITrajectory
     {
-        public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
+        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             return new RcVec3f()
             {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs b/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
index 7810533..0daa7f6 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/EdgeExtractor.cs
@@ -20,7 +20,7 @@ namespace DotRecast.Detour.Extras.Jumplink
                 {
                     if (i > 41 || i < 41)
                     {
-                        //           continue;
+                        // continue;
                     }
 
                     int nvp = mesh.nvp;
@@ -29,7 +29,7 @@ namespace DotRecast.Detour.Extras.Jumplink
                     {
                         if (j != 1)
                         {
-                            //                    continue;
+                            // continue;
                         }
 
                         if (mesh.polys[p + j] == RC_MESH_NULL_IDX)
diff --git a/src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
index 9a5a468..044ab83 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/EdgeSampler.cs
@@ -7,13 +7,13 @@ namespace DotRecast.Detour.Extras.Jumplink
     {
         public readonly GroundSegment start = new GroundSegment();
         public readonly List<GroundSegment> end = new List<GroundSegment>();
-        public readonly Trajectory trajectory;
+        public readonly ITrajectory trajectory;
 
         public readonly RcVec3f ax = new RcVec3f();
         public readonly RcVec3f ay = new RcVec3f();
         public readonly RcVec3f az = new RcVec3f();
 
-        public EdgeSampler(JumpEdge edge, Trajectory trajectory)
+        public EdgeSampler(JumpEdge edge, ITrajectory trajectory)
         {
             this.trajectory = trajectory;
             ax = RcVec3f.Subtract(edge.sq, edge.sp);
diff --git a/src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs b/src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs
index 41cffc1..3c22759 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/GroundSample.cs
@@ -4,7 +4,7 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class GroundSample
     {
-        public RcVec3f p = new RcVec3f();
+        public RcVec3f p;
         public bool validTrajectory;
         public bool validHeight;
     }
diff --git a/src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs b/src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs
index 1268bba..dbc8f1a 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/GroundSegment.cs
@@ -4,8 +4,8 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class GroundSegment
     {
-        public RcVec3f p = new RcVec3f();
-        public RcVec3f q = new RcVec3f();
+        public RcVec3f p;
+        public RcVec3f q;
         public GroundSample[] gsamples;
         public float height;
     }
diff --git a/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
new file mode 100644
index 0000000..dfd04a5
--- /dev/null
+++ b/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
@@ -0,0 +1,10 @@
+using System;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.Extras.Jumplink
+{
+    public interface ITrajectory
+    {
+        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u);
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs
index 4f02b83..9482b01 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpLink.cs
@@ -10,6 +10,6 @@ namespace DotRecast.Detour.Extras.Jumplink
         public GroundSample[] endSamples;
         public GroundSegment start;
         public GroundSegment end;
-        public Trajectory trajectory;
+        public ITrajectory trajectory;
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
index 080eff3..663b558 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
@@ -4,7 +4,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    public class JumpTrajectory : Trajectory
+    public class JumpTrajectory : ITrajectory
     {
         private readonly float jumpHeight;
 
@@ -13,7 +13,7 @@ namespace DotRecast.Detour.Extras.Jumplink
             this.jumpHeight = jumpHeight;
         }
 
-        public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
+        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             return new RcVec3f
             {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
deleted file mode 100644
index e51802c..0000000
--- a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
+++ /dev/null
@@ -1,13 +0,0 @@
-using System;
-using DotRecast.Core.Numerics;
-
-namespace DotRecast.Detour.Extras.Jumplink
-{
-    public class Trajectory
-    {
-        public virtual RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
-        {
-            throw new NotImplementedException();
-        }
-    }
-}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
index a2ec1f1..7d3dcad 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
@@ -32,7 +32,7 @@ namespace DotRecast.Detour.Extras.Jumplink
             }
         }
 
-        private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, Trajectory tra)
+        private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, ITrajectory tra)
         {
             float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
             float d = RcVecUtils.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
diff --git a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.cs
index 4b31c47..db2fc07 100644
--- a/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.cs
@@ -417,7 +417,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
     }
 
 
-    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, Trajectory tra, int cola)
+    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, ITrajectory tra, int cola)
     {
     }
 

From 2a45ec021c591e2f6460ef758ecc64a044ae058b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 31 May 2024 23:25:35 +0900
Subject: [PATCH 058/147] added DT_NODE_PARENT_BITS

---
 src/DotRecast.Detour/DtDetour.cs | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/DotRecast.Detour/DtDetour.cs b/src/DotRecast.Detour/DtDetour.cs
index 8ffb854..c164541 100644
--- a/src/DotRecast.Detour/DtDetour.cs
+++ b/src/DotRecast.Detour/DtDetour.cs
@@ -35,7 +35,11 @@ namespace DotRecast.Detour
 
         /// A value that indicates the entity does not link to anything.
         public const int DT_NULL_LINK = unchecked((int)0xffffffff);
-
+        
+        public const int DT_NODE_PARENT_BITS = 24;
+        public const int DT_NODE_STATE_BITS = 2;
+        public const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state
+        
         /// A flag that indicates that an off-mesh connection can be traversed in
         /// both directions. (Is bidirectional.)
         public const int DT_OFFMESH_CON_BIDIR = 1;

From 01b7b4add9cb843e0ffb3a7ccc39fae20ac9c43b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 1 Jun 2024 23:27:22 +0900
Subject: [PATCH 059/147] pgrade Serilog 4.0.0 for DotRecast.Recast.Demo

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index b231327..5b617a2 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="3.1.1" />
+    <PackageReference Include="Serilog" Version="4.0.0" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.0" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
     <PackageReference Include="Serilog.Sinks.Async" Version="1.5.0"/>

From f8ae77a19289fe51e654d77383dd9042b50ee5fe Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 3 Jun 2024 23:33:14 +0900
Subject: [PATCH 060/147] Release 2024.2.3

---
 CHANGELOG.md | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c20195b..e46369b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,23 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased] - yyyy-mm-dd
 
+### Added
+- Nothing
+
+### Fixed
+- Nothing
+
+### Changed
+- Nothing
+
+### Removed
+- Nothing
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+## [2024.2.3] - 2024-06-03
+
 ### Added
 - Added `DtCollectPolysQuery` and `FindCollectPolyTest`
 

From 099636cd7c116d4c20385dfdcfb2c20662cbc1aa Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 4 Jun 2024 00:34:07 +0900
Subject: [PATCH 061/147] Removed RcVecUtils.Dot()

---
 CHANGELOG.md                                     |  2 +-
 src/DotRecast.Core/Numerics/RcVecUtils.cs        | 16 ----------------
 .../Jumplink/ITrajectory.cs                      |  2 +-
 .../RcFilledVolumeRasterization.cs               | 12 ++++++------
 4 files changed, 8 insertions(+), 24 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e46369b..a1e3524 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,7 +16,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Removed
-- Nothing
+- Removed RcVecUtils.Dot()
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 68816b1..0dab29c 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -118,22 +118,6 @@ namespace DotRecast.Core.Numerics
             @out[n + 2] = @in[m + 2];
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot(float[] v1, float[] v2)
-        {
-            return v1[0] * v2[0] +
-                   v1[1] * v2[1] +
-                   v1[2] * v2[2];
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot(float[] v1, RcVec3f vector2)
-        {
-            return v1[0] * vector2.X +
-                   v1[1] * vector2.Y +
-                   v1[2] * vector2.Z;
-        }
-
         /// Returns the distance between two points.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
diff --git a/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
index dfd04a5..9b9da62 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/ITrajectory.cs
@@ -5,6 +5,6 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public interface ITrajectory
     {
-        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u);
+        RcVec3f Apply(RcVec3f start, RcVec3f end, float u);
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index 2ddacd4..fd558b2 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -525,7 +525,7 @@ namespace DotRecast.Recast
                 {
                     if (MathF.Abs(planes[j][1]) > EPSILON)
                     {
-                        float dotNormalPoint = RcVecUtils.Dot(planes[j], point);
+                        float dotNormalPoint = RcVec3f.Dot(RcVecUtils.Create(planes[j]), point);
                         float t = (planes[j][3] - dotNormalPoint) / planes[j][1];
                         float y = point.Y + t;
                         bool valid = true;
@@ -729,15 +729,15 @@ namespace DotRecast.Recast
         private static bool RayTriangleIntersection(RcVec3f point, int plane, float[][] planes, out float y)
         {
             y = 0.0f;
-            float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1];
-            float[] s = { point.X, point.Y + t, point.Z };
-            float u = RcVecUtils.Dot(s, planes[plane + 1]) - planes[plane + 1][3];
+            float t = (planes[plane][3] - RcVec3f.Dot(RcVecUtils.Create(planes[plane]), point)) / planes[plane][1];
+            RcVec3f s = new RcVec3f(point.X, point.Y + t, point.Z);
+            float u = RcVec3f.Dot(s, RcVecUtils.Create(planes[plane + 1])) - planes[plane + 1][3];
             if (u < 0.0f || u > 1.0f)
             {
                 return false;
             }
 
-            float v = RcVecUtils.Dot(s, planes[plane + 2]) - planes[plane + 2][3];
+            float v = RcVec3f.Dot(s, RcVecUtils.Create(planes[plane + 2])) - planes[plane + 2][3];
             if (v < 0.0f)
             {
                 return false;
@@ -749,7 +749,7 @@ namespace DotRecast.Recast
                 return false;
             }
 
-            y = s[1];
+            y = s.Y;
             return true;
         }
 

From 0f20db44bb71198051e392c5cee4aae238ba570b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 7 Jun 2024 21:24:11 +0900
Subject: [PATCH 062/147] Serilog.Sinks.Async 1.5.0 -> 2.0.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 5b617a2..c5c9a1a 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -21,9 +21,9 @@
 
   <ItemGroup>
     <PackageReference Include="Serilog" Version="4.0.0" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.0" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.1" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
-    <PackageReference Include="Serilog.Sinks.Async" Version="1.5.0"/>
+    <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="5.0.1" />
     <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />

From b18845a7497912a871410832090087ef062359a8 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 7 Jun 2024 21:31:11 +0900
Subject: [PATCH 063/147] Removed RcVecUtils.Scale()

---
 CHANGELOG.md                                           | 1 +
 src/DotRecast.Core/Numerics/RcVecUtils.cs              | 6 ------
 src/DotRecast.Detour.Crowd/DtCrowd.cs                  | 6 +++---
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs             | 8 ++++----
 src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs      | 2 +-
 test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs  | 2 +-
 7 files changed, 11 insertions(+), 16 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a1e3524..6e244f9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Removed
 - Removed RcVecUtils.Dot()
+- Removed RcVecUtils.Scale()
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 0dab29c..a083b2c 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -42,12 +42,6 @@ namespace DotRecast.Core.Numerics
             }
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Scale(this RcVec3f v, float scale)
-        {
-            return v * scale;
-        }
-
         /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
         /// @param[in] u A vector [(x, y, z)]
         /// @param[in] v A vector [(x, y, z)]
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 55b1c63..94395ac 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -1063,7 +1063,7 @@ namespace DotRecast.Detour.Crowd
                     float speedScale = ag.GetDistanceToGoal(slowDownRadius) / slowDownRadius;
 
                     ag.desiredSpeed = ag.option.maxSpeed;
-                    dvel = dvel.Scale(ag.desiredSpeed * speedScale);
+                    dvel = dvel * (ag.desiredSpeed * speedScale);
                 }
 
                 // Separation
@@ -1110,7 +1110,7 @@ namespace DotRecast.Detour.Crowd
                         float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
                         if (speedSqr > desiredSqr)
                         {
-                            dvel = dvel.Scale(desiredSqr / speedSqr);
+                            dvel = dvel * (desiredSqr / speedSqr);
                         }
                     }
                 }
@@ -1268,7 +1268,7 @@ namespace DotRecast.Detour.Crowd
                     if (w > 0.0001f)
                     {
                         float iw = 1.0f / w;
-                        ag.disp = ag.disp.Scale(iw);
+                        ag.disp = ag.disp * iw;
                     }
                 }
 
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index 7831af3..c186fed 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -62,10 +62,10 @@ namespace DotRecast.Detour.Crowd
 
         /// The local path corridor corners for the agent.
         public DtStraightPath[] corners = new DtStraightPath[DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS];
-        
+
         /// The number of corners.
         public int ncorners;
-        
+
         public DtMoveRequestState targetState; // < State of the movement request.
         public long targetRef; // < Target polyref of the movement request.
         public RcVec3f targetPos = new RcVec3f(); // < Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY).
@@ -91,7 +91,7 @@ namespace DotRecast.Detour.Crowd
             RcVec3f dv = RcVec3f.Subtract(nvel, vel);
             float ds = dv.Length();
             if (ds > maxDelta)
-                dv = dv.Scale(maxDelta / ds);
+                dv = dv * (maxDelta / ds);
             vel = RcVec3f.Add(vel, dv);
 
             // Integrate
@@ -150,7 +150,7 @@ namespace DotRecast.Detour.Crowd
                 float len0 = dir0.Length();
                 float len1 = dir1.Length();
                 if (len1 > 0.001f)
-                    dir1 = dir1.Scale(1.0f / len1);
+                    dir1 = dir1 * (1.0f / len1);
 
                 dir.X = dir0.X - dir1.X * len0 * 0.5f;
                 dir.Y = 0;
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
index eec4693..2aabd8d 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
@@ -236,7 +236,7 @@ namespace DotRecast.Detour.Crowd
                 DtObstacleCircle cir = m_circles[i];
 
                 // RVO
-                RcVec3f vab = vcand.Scale(2);
+                RcVec3f vab = vcand * 2;
                 vab = RcVec3f.Subtract(vab, vel);
                 vab = RcVec3f.Subtract(vab, cir.vel);
 
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
index 4bfbd5f..c78e406 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
@@ -297,7 +297,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcVec3f vel = RcVec3f.Subtract(tgt, pos);
             vel.Y = 0.0f;
             vel = RcVec3f.Normalize(vel);
-            return vel.Scale(speed);
+            return vel * speed;
         }
 
         public long GetCrowdUpdateTime()
diff --git a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
index b2f186d..fbd19f1 100644
--- a/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
+++ b/test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
@@ -153,7 +153,7 @@ public class AbstractCrowdTest
         RcVec3f vel = RcVec3f.Subtract(tgt, pos);
         vel.Y = 0.0f;
         vel = RcVec3f.Normalize(vel);
-        vel = vel.Scale(speed);
+        vel = vel * speed;
         return vel;
     }
 

From ebab0a11f38bc5f2af60d080c404f83a5a3b9288 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 7 Jun 2024 21:44:59 +0900
Subject: [PATCH 064/147] Removed RcVecUtils.Subtract(RcVec3f i, float[] verts,
 int j)

---
 CHANGELOG.md                              |  1 +
 src/DotRecast.Core/Numerics/RcVecUtils.cs | 12 ------------
 src/DotRecast.Recast/RcMeshDetails.cs     | 18 +++++++++---------
 3 files changed, 10 insertions(+), 21 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6e244f9..e1e5281 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Removed
 - Removed RcVecUtils.Dot()
 - Removed RcVecUtils.Scale()
+- Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index a083b2c..65b24ff 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -84,18 +84,6 @@ namespace DotRecast.Core.Numerics
             );
         }
 
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Subtract(RcVec3f i, float[] verts, int j)
-        {
-            return new RcVec3f(
-                i.X - verts[j],
-                i.Y - verts[j + 1],
-                i.Z - verts[j + 2]
-            );
-        }
-
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 7cead00..755dd4d 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -183,11 +183,11 @@ namespace DotRecast.Recast
             return false;
         }
 
-        private static float DistPtTri(RcVec3f p, float[] verts, int a, int b, int c)
+        private static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
         {
-            var v0 = RcVecUtils.Subtract(verts, c, a);
-            var v1 = RcVecUtils.Subtract(verts, b, a);
-            var v2 = RcVecUtils.Subtract(p, verts, a);
+            var v0 = c - a;
+            var v1 = b - a;
+            var v2 = p - a;
 
             float dot00 = Vdot2(v0, v0);
             float dot01 = Vdot2(v0, v1);
@@ -204,7 +204,7 @@ namespace DotRecast.Recast
             const float EPS = 1e-4f;
             if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
             {
-                float y = verts[a + 1] + v0.Y * u + v1.Y * v;
+                float y = a.Y + v0.Y * u + v1.Y * v;
                 return MathF.Abs(y - p.Y);
             }
 
@@ -303,10 +303,10 @@ namespace DotRecast.Recast
             float dmin = float.MaxValue;
             for (int i = 0; i < ntris; ++i)
             {
-                int va = tris[i * 4 + 0] * 3;
-                int vb = tris[i * 4 + 1] * 3;
-                int vc = tris[i * 4 + 2] * 3;
-                float d = DistPtTri(p, verts, va, vb, vc);
+                RcVec3f va = RcVecUtils.Create(verts, tris[i * 4 + 0] * 3);
+                RcVec3f vb = RcVecUtils.Create(verts, tris[i * 4 + 1] * 3);
+                RcVec3f vc = RcVecUtils.Create(verts, tris[i * 4 + 2] * 3);
+                float d = DistPtTri(p, va, vb, vc);
                 if (d < dmin)
                 {
                     dmin = d;

From 8ad34dc0d854f4e1ad16a46b52b004594fec33df Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 7 Jun 2024 22:36:46 +0900
Subject: [PATCH 065/147] Removed RcMeshDetails.VdistSq2(float[], float[])

---
 CHANGELOG.md                                  |   1 +
 .../Geom/DemoInputGeomProvider.cs             |  10 +-
 src/DotRecast.Recast/RcMeshDetails.cs         | 103 ++++--------------
 src/DotRecast.Recast/RcRecast.cs              |  16 ++-
 4 files changed, 37 insertions(+), 93 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e1e5281..818ba22 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Removed RcVecUtils.Dot()
 - Removed RcVecUtils.Scale()
 - Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
+- Removed RcMeshDetails.VdistSq2(float[], float[])
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 353d94c..61dbf11 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -87,11 +87,11 @@ namespace DotRecast.Recast.Toolset.Geom
         {
             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;
-                var e0 = RcVecUtils.Subtract(vertices, v1, v0);
-                var e1 = RcVecUtils.Subtract(vertices, v2, v0);
+                RcVec3f v0 = RcVecUtils.Create(vertices, faces[i] * 3);
+                RcVec3f v1 = RcVecUtils.Create(vertices, faces[i + 1] * 3);
+                RcVec3f v2 = RcVecUtils.Create(vertices, faces[i + 2] * 3);
+                RcVec3f e0 = v1 - v0;
+                RcVec3f e1 = v2 - v0;
 
                 normals[i] = e0.Y * e1.Z - e0.Z * e1.Y;
                 normals[i + 1] = e0.Z * e1.X - e0.X * e1.Z;
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 755dd4d..1767a5e 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -40,11 +40,6 @@ namespace DotRecast.Recast
         public const int EV_HULL = -2;
 
 
-        private static float Vdot2(float[] a, float[] b)
-        {
-            return a[0] * b[0] + a[2] * b[2];
-        }
-
         private static float Vdot2(RcVec3f a, RcVec3f b)
         {
             return a.X * b.X + a.Z * b.Z;
@@ -63,21 +58,6 @@ namespace DotRecast.Recast
             return MathF.Sqrt(VdistSq2(verts, p, q));
         }
 
-        private static float VdistSq2(float[] p, float[] q)
-        {
-            float dx = q[0] - p[0];
-            float dy = q[2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(float[] p, RcVec3f q)
-        {
-            float dx = q.X - p[0];
-            float dy = q.Z - p[2];
-            return dx * dx + dy * dy;
-        }
-
-
         private static float VdistSq2(RcVec3f p, RcVec3f q)
         {
             float dx = q.X - p.X;
@@ -85,49 +65,11 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy;
         }
 
-
-        private static float Vdist2(float[] p, float[] q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
         private static float Vdist2(RcVec3f p, RcVec3f q)
         {
             return MathF.Sqrt(VdistSq2(p, q));
         }
 
-        private static float Vdist2(float[] p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-
-        private static float VdistSq2(float[] p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p[0];
-            float dy = verts[q + 2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(RcVec3f p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p.X;
-            float dy = verts[q + 2] - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float Vdist2(float[] p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-        private static float Vdist2(RcVec3f p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-
         private static float Vcross2(float[] verts, int p1, int p2, int p3)
         {
             float u1 = verts[p2 + 0] - verts[p1 + 0];
@@ -137,15 +79,6 @@ namespace DotRecast.Recast
             return u1 * v2 - v1 * u2;
         }
 
-        private static float Vcross2(float[] p1, float[] p2, float[] p3)
-        {
-            float u1 = p2[0] - p1[0];
-            float v1 = p2[2] - p1[2];
-            float u2 = p3[0] - p1[0];
-            float v2 = p3[2] - p1[2];
-            return u1 * v2 - v1 * u2;
-        }
-
         private static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
         {
             float u1 = p2.X - p1.X;
@@ -156,13 +89,13 @@ namespace DotRecast.Recast
         }
 
 
-        private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref RcVec3f c, RcAtomicFloat r)
+        private static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
         {
             const float EPS = 1e-6f;
             // Calculate the circle relative to p1, to avoid some precision issues.
             var v1 = new RcVec3f();
-            var v2 = RcVecUtils.Subtract(verts, p2, p1);
-            var v3 = RcVecUtils.Subtract(verts, p3, p1);
+            var v2 = p2 - p1;
+            var v3 = p3 - p1;
 
             float cp = Vcross2(v1, v2, v3);
             if (MathF.Abs(cp) > EPS)
@@ -173,13 +106,13 @@ namespace DotRecast.Recast
                 c.X = (v1Sq * (v2.Z - v3.Z) + v2Sq * (v3.Z - v1.Z) + v3Sq * (v1.Z - v2.Z)) / (2 * cp);
                 c.Y = 0;
                 c.Z = (v1Sq * (v3.X - v2.X) + v2Sq * (v1.X - v3.X) + v3Sq * (v2.X - v1.X)) / (2 * cp);
-                r.Exchange(Vdist2(c, v1));
-                c = RcVecUtils.Add(c, verts, p1);
+                r = Vdist2(c, v1);
+                c = c + p1;
                 return true;
             }
 
-            c = RcVecUtils.Create(verts, p1);
-            r.Exchange(0f);
+            c = p1;
+            r = 0f;
             return false;
         }
 
@@ -534,7 +467,7 @@ namespace DotRecast.Recast
             // Find best point on left of edge.
             int pt = npts;
             RcVec3f c = new RcVec3f();
-            RcAtomicFloat r = new RcAtomicFloat(-1f);
+            float r = -1f;
             for (int u = 0; u < npts; ++u)
             {
                 if (u == s || u == t)
@@ -542,28 +475,32 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                if (Vcross2(pts, s * 3, t * 3, u * 3) > EPS)
+                RcVec3f vs = RcVecUtils.Create(pts, s * 3);
+                RcVec3f vt = RcVecUtils.Create(pts, t * 3);
+                RcVec3f vu = RcVecUtils.Create(pts, u * 3);
+
+                if (Vcross2(vs, vt, vu) > EPS)
                 {
-                    if (r.Get() < 0)
+                    if (r < 0)
                     {
                         // The circle is not updated yet, do it now.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                         continue;
                     }
 
-                    float d = Vdist2(c, pts, u * 3);
+                    float d = Vdist2(c, vu);
                     float tol = 0.001f;
-                    if (d > r.Get() * (1 + tol))
+                    if (d > r * (1 + tol))
                     {
                         // Outside current circumcircle, skip.
                         continue;
                     }
-                    else if (d < r.Get() * (1 - tol))
+                    else if (d < r * (1 - tol))
                     {
                         // Inside safe circumcircle, update circle.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                     else
                     {
@@ -581,7 +518,7 @@ namespace DotRecast.Recast
 
                         // Edge is valid.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                 }
             }
diff --git a/src/DotRecast.Recast/RcRecast.cs b/src/DotRecast.Recast/RcRecast.cs
index 45a17f7..393f4e3 100644
--- a/src/DotRecast.Recast/RcRecast.cs
+++ b/src/DotRecast.Recast/RcRecast.cs
@@ -193,7 +193,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVecUtils.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVecUtils.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVecUtils.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y > walkableThr)
                     areas[i] = areaMod.Apply(areas[i]);
@@ -202,10 +205,10 @@ namespace DotRecast.Recast
             return areas;
         }
 
-        public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref RcVec3f norm)
+        public static void CalcTriNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2, ref RcVec3f norm)
         {
-            var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3);
-            var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3);
+            var e0 = v1 - v0;
+            var e1 = v2 - v0;
             norm = RcVec3f.Cross(e0, e1);
             norm = RcVec3f.Normalize(norm);
         }
@@ -228,7 +231,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVecUtils.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVecUtils.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVecUtils.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y <= walkableThr)
                     areas[i] = RC_NULL_AREA;

From 759e335961bc5ac67dc8a95388eb64ab800e3ec8 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 7 Jun 2024 22:46:08 +0900
Subject: [PATCH 066/147] Removed RcVecUtils.Subtract(float[] verts, int i, int
 j)

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Core/Numerics/RcVecUtils.cs     | 10 --------
 .../Tools/GizmoRenderer.cs                    | 25 ++++++++-----------
 3 files changed, 11 insertions(+), 25 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 818ba22..30140eb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Removed RcVecUtils.Dot()
 - Removed RcVecUtils.Scale()
 - Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
+- Removed RcVecUtils.Subtract(float[] verts, int i, int j)
 - Removed RcMeshDetails.VdistSq2(float[], float[])
 
 ### Special Thanks
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 65b24ff..5d5de00 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -74,16 +74,6 @@ namespace DotRecast.Core.Numerics
         }
 
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Subtract(float[] verts, int i, int j)
-        {
-            return new RcVec3f(
-                verts[i] - verts[j],
-                verts[i + 1] - verts[j + 1],
-                verts[i + 2] - verts[j + 2]
-            );
-        }
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
diff --git a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
index a6f4083..987a081 100644
--- a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
@@ -36,16 +36,11 @@ public static class GizmoRenderer
         }
     }
 
-    public static int GetColorByNormal(float[] vertices, int v0, int v1, int v2)
+    public static int GetColorByNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2)
     {
-        RcVec3f e0 = new RcVec3f();
-        RcVec3f e1 = new RcVec3f();
         RcVec3f normal = new RcVec3f();
-        for (int j = 0; j < 3; ++j)
-        {
-            e0 = RcVecUtils.Subtract(vertices, v1, v0);
-            e1 = RcVecUtils.Subtract(vertices, v2, v0);
-        }
+        RcVec3f e0 = v1 - v0;
+        RcVec3f e1 = v2 - v0;
 
         normal.X = e0.Y * e1.Z - e0.Z * e1.Y;
         normal.Y = e0.Z * e1.X - e0.X * e1.Z;
@@ -160,13 +155,13 @@ public static class GizmoRenderer
         debugDraw.Begin(DebugDrawPrimitives.TRIS);
         for (int i = 0; i < trimesh.triangles.Length; i += 3)
         {
-            int v0 = 3 * trimesh.triangles[i];
-            int v1 = 3 * trimesh.triangles[i + 1];
-            int v2 = 3 * trimesh.triangles[i + 2];
-            int col = GetColorByNormal(trimesh.vertices, v0, v1, v2);
-            debugDraw.Vertex(trimesh.vertices[v0], trimesh.vertices[v0 + 1], trimesh.vertices[v0 + 2], col);
-            debugDraw.Vertex(trimesh.vertices[v1], trimesh.vertices[v1 + 1], trimesh.vertices[v1 + 2], col);
-            debugDraw.Vertex(trimesh.vertices[v2], trimesh.vertices[v2 + 1], trimesh.vertices[v2 + 2], col);
+            RcVec3f v0 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i]);
+            RcVec3f v1 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i + 1]);
+            RcVec3f v2 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i + 2]);
+            int col = GetColorByNormal(v0, v1, v2);
+            debugDraw.Vertex(v0.X, v0.Y, v0.Z, col);
+            debugDraw.Vertex(v1.X, v1.Y, v1.Z, col);
+            debugDraw.Vertex(v2.X, v2.Y, v2.Z, col);
         }
 
         debugDraw.End();

From face8eb48e4b97989867510f0eb557f1b2a173cc Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 8 Jun 2024 12:08:31 +0900
Subject: [PATCH 067/147] Changed to reuse samples and edges list in
 BuildPolyDetail()

---
 CHANGELOG.md                              |   2 +-
 src/DotRecast.Core/Numerics/RcVecUtils.cs |  11 ---
 src/DotRecast.Recast/EdgeValues.cs        |   8 ++
 src/DotRecast.Recast/RcMeshDetails.cs     | 114 ++++++++++++----------
 4 files changed, 69 insertions(+), 66 deletions(-)
 create mode 100644 src/DotRecast.Recast/EdgeValues.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 30140eb..2e3b148 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,7 +13,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Changed
-- Nothing
+- Changed to reuse samples and edges list in BuildPolyDetail()
 
 ### Removed
 - Removed RcVecUtils.Dot()
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 5d5de00..86a47b4 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -63,17 +63,6 @@ namespace DotRecast.Core.Numerics
                    @this.Z * v[vi + 2];
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Add(RcVec3f a, float[] verts, int i)
-        {
-            return new RcVec3f(
-                a.X + verts[i],
-                a.Y + verts[i + 1],
-                a.Z + verts[i + 2]
-            );
-        }
-
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
diff --git a/src/DotRecast.Recast/EdgeValues.cs b/src/DotRecast.Recast/EdgeValues.cs
new file mode 100644
index 0000000..3b148aa
--- /dev/null
+++ b/src/DotRecast.Recast/EdgeValues.cs
@@ -0,0 +1,8 @@
+namespace DotRecast.Recast
+{
+    public static class EdgeValues
+    {
+        public const int EV_UNDEF = -1;
+        public const int EV_HULL = -2;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 1767a5e..0230953 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -27,50 +27,43 @@ using DotRecast.Core.Numerics;
 namespace DotRecast.Recast
 {
     using static RcRecast;
-
+    using static EdgeValues;
 
     public static class RcMeshDetails
     {
-        public const int MAX_VERTS = 127;
-        public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
-        public const int MAX_VERTS_PER_EDGE = 32;
+        public const int RC_UNSET_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
-        public const int RC_UNSET_HEIGHT = RcRecast.RC_SPAN_MAX_HEIGHT;
-        public const int EV_UNDEF = -1;
-        public const int EV_HULL = -2;
-
-
-        private static float Vdot2(RcVec3f a, RcVec3f b)
+        public static float Vdot2(RcVec3f a, RcVec3f b)
         {
             return a.X * b.X + a.Z * b.Z;
         }
 
 
-        private static float VdistSq2(float[] verts, int p, int q)
+        public static float VdistSq2(float[] verts, int p, int q)
         {
             float dx = verts[q + 0] - verts[p + 0];
             float dy = verts[q + 2] - verts[p + 2];
             return dx * dx + dy * dy;
         }
 
-        private static float Vdist2(float[] verts, int p, int q)
+        public static float Vdist2(float[] verts, int p, int q)
         {
             return MathF.Sqrt(VdistSq2(verts, p, q));
         }
 
-        private static float VdistSq2(RcVec3f p, RcVec3f q)
+        public static float VdistSq2(RcVec3f p, RcVec3f q)
         {
             float dx = q.X - p.X;
             float dy = q.Z - p.Z;
             return dx * dx + dy * dy;
         }
 
-        private static float Vdist2(RcVec3f p, RcVec3f q)
+        public static float Vdist2(RcVec3f p, RcVec3f q)
         {
             return MathF.Sqrt(VdistSq2(p, q));
         }
 
-        private static float Vcross2(float[] verts, int p1, int p2, int p3)
+        public static float Vcross2(float[] verts, int p1, int p2, int p3)
         {
             float u1 = verts[p2 + 0] - verts[p1 + 0];
             float v1 = verts[p2 + 2] - verts[p1 + 2];
@@ -79,7 +72,7 @@ namespace DotRecast.Recast
             return u1 * v2 - v1 * u2;
         }
 
-        private static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
+        public static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
         {
             float u1 = p2.X - p1.X;
             float v1 = p2.Z - p1.Z;
@@ -89,7 +82,7 @@ namespace DotRecast.Recast
         }
 
 
-        private static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
+        public static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
         {
             const float EPS = 1e-6f;
             // Calculate the circle relative to p1, to avoid some precision issues.
@@ -116,7 +109,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        private static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
+        public static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
         {
             var v0 = c - a;
             var v1 = b - a;
@@ -144,7 +137,7 @@ namespace DotRecast.Recast
             return float.MaxValue;
         }
 
-        private static float DistancePtSeg(float[] verts, int pt, int p, int q)
+        public static float DistancePtSeg(float[] verts, int pt, int p, int q)
         {
             float pqx = verts[q + 0] - verts[p + 0];
             float pqy = verts[q + 1] - verts[p + 1];
@@ -175,7 +168,7 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy + dz * dz;
         }
 
-        private static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -203,7 +196,7 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -231,7 +224,7 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
+        public static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
         {
             float dmin = float.MaxValue;
             for (int i = 0; i < ntris; ++i)
@@ -254,7 +247,7 @@ namespace DotRecast.Recast
             return dmin;
         }
 
-        private static float DistToPoly(int nvert, float[] verts, RcVec3f p)
+        public static float DistToPoly(int nvert, float[] verts, RcVec3f p)
         {
             float dmin = float.MaxValue;
             int i, j;
@@ -275,7 +268,7 @@ namespace DotRecast.Recast
             return c ? -dmin : dmin;
         }
 
-        private static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
+        public static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
             RcHeightPatch hp)
         {
             int ix = (int)MathF.Floor(fx * ics + 0.01f);
@@ -358,7 +351,7 @@ namespace DotRecast.Recast
             return h;
         }
 
-        private static int FindEdge(List<int> edges, int s, int t)
+        public static int FindEdge(List<int> edges, int s, int t)
         {
             for (int i = 0; i < edges.Count / 4; i++)
             {
@@ -372,7 +365,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        public static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -390,7 +383,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
+        public static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
         {
             if (edges[e + 0] == s && edges[e + 1] == t && edges[e + 2] == EV_UNDEF)
             {
@@ -402,7 +395,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
+        public static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
         {
             float a1 = Vcross2(verts, a, b, d);
             float a2 = Vcross2(verts, a, b, c);
@@ -419,7 +412,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        private static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
+        public static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
         {
             for (int i = 0; i < edges.Count / 4; ++i)
             {
@@ -440,7 +433,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        public static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -561,7 +554,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        public static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -657,7 +650,7 @@ namespace DotRecast.Recast
         }
 
         // Calculate minimum extend of the polygon.
-        private static float PolyMinExtent(float[] verts, int nverts)
+        public static float PolyMinExtent(float[] verts, int nverts)
         {
             float minDist = float.MaxValue;
             for (int i = 0; i < nverts; i++)
@@ -683,7 +676,7 @@ namespace DotRecast.Recast
             return MathF.Sqrt(minDist);
         }
 
-        private static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
+        public static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
         {
             int start = 0, left = 1, right = nhull - 1;
 
@@ -755,33 +748,37 @@ namespace DotRecast.Recast
             }
         }
 
-        private static float GetJitterX(int i)
+        public static float GetJitterX(int i)
         {
             return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        private static float GetJitterY(int i)
+        public static float GetJitterY(int i)
         {
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
-            int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
+        public static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, 
+                                            float sampleDist, float sampleMaxError, 
+                                            int heightSearchRadius, RcCompactHeightfield chf, 
+                                            RcHeightPatch hp, float[] verts, 
+                                            ref List<int> tris, ref List<int> edges, ref List<int> samples)
         {
-            List<int> samples = new List<int>(512);
-
-            int nverts = 0;
+            const int MAX_VERTS = 127;
+            const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
+            const int MAX_VERTS_PER_EDGE = 32;
             float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3];
             int[] hull = new int[MAX_VERTS];
             int nhull = 0;
 
-            nverts = nin;
+            int nverts = nin;
 
             for (int i = 0; i < nin; ++i)
             {
                 RcVecUtils.Copy(verts, i * 3, @in, i * 3);
             }
 
+            edges.Clear();
             tris.Clear();
 
             float cs = chf.cs;
@@ -1042,7 +1039,7 @@ namespace DotRecast.Recast
             return nverts;
         }
 
-        static bool OnHull(int a, int b, int nhull, int[] hull)
+        public static bool OnHull(int a, int b, int nhull, int[] hull)
         {
             // All internal sampled points come after the hull so we can early out for those.
             if (a >= nhull || b >= nhull)
@@ -1058,7 +1055,7 @@ namespace DotRecast.Recast
         }
 
         // Find edges that lie on hull and mark them as such.
-        static void SetTriFlags(List<int> tris, int nhull, int[] hull)
+        public static void SetTriFlags(List<int> tris, int nhull, int[] hull)
         {
             // Matches DT_DETAIL_EDGE_BOUNDARY
             const int DETAIL_EDGE_BOUNDARY = 0x1;
@@ -1077,7 +1074,7 @@ namespace DotRecast.Recast
         }
 
 
-        static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        public static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1226,22 +1223,25 @@ namespace DotRecast.Recast
             hp.data[cx - hp.xmin + (cy - hp.ymin) * hp.width] = cs2.y;
         }
 
-        const int RETRACT_SIZE = 256;
 
-        static void Push3(List<int> queue, int v1, int v2, int v3)
+        public static void Push3(List<int> queue, int v1, int v2, int v3)
         {
             queue.Add(v1);
             queue.Add(v2);
             queue.Add(v3);
         }
 
-        static void GetHeightData(RcContext ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
-            int bs, RcHeightPatch hp, int region)
+        public static void GetHeightData(RcContext ctx, RcCompactHeightfield chf,
+            int[] meshpolys, int poly, int npoly,
+            int[] verts, int bs,
+            ref RcHeightPatch hp, ref List<int> queue,
+            int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
             // since border size offset is already removed from the polymesh vertices.
 
-            List<int> queue = new List<int>(512);
+            queue.Clear();
+            // Set all heights to RC_UNSET_HEIGHT.
             Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
 
             bool empty = true;
@@ -1307,6 +1307,7 @@ namespace DotRecast.Recast
                 SeedArrayWithPolyCenter(ctx, chf, meshpolys, poly, npoly, verts, bs, hp, queue);
             }
 
+            const int RETRACT_SIZE = 256;
             int head = 0;
 
             // We assume the seed is centered in the polygon, so a BFS to collect
@@ -1378,7 +1379,10 @@ namespace DotRecast.Recast
             int borderSize = mesh.borderSize;
             int heightSearchRadius = (int)Math.Max(1, MathF.Ceiling(mesh.maxEdgeError));
 
+            List<int> edges = new List<int>(64);
             List<int> tris = new List<int>(512);
+            List<int> arr = new List<int>(512);
+            List<int> samples = new List<int>(512);
             float[] verts = new float[256 * 3];
             RcHeightPatch hp = new RcHeightPatch();
             int nPolyVerts = 0;
@@ -1463,18 +1467,20 @@ namespace DotRecast.Recast
                 hp.ymin = bounds[i * 4 + 2];
                 hp.width = bounds[i * 4 + 1] - bounds[i * 4 + 0];
                 hp.height = bounds[i * 4 + 3] - bounds[i * 4 + 2];
-                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, hp, mesh.regs[i]);
+                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, ref hp, ref arr, mesh.regs[i]);
 
                 // Build detail mesh.
-                int nverts = BuildPolyDetail(ctx, poly, npoly, sampleDist, sampleMaxError, heightSearchRadius, chf, hp,
-                    verts, tris);
+                int nverts = BuildPolyDetail(ctx, poly, npoly,
+                    sampleDist, sampleMaxError,
+                    heightSearchRadius, chf, hp,
+                    verts, ref tris,
+                    ref edges, ref samples);
 
                 // Move detail verts to world space.
                 for (int j = 0; j < nverts; ++j)
                 {
                     verts[j * 3 + 0] += orig.X;
                     verts[j * 3 + 1] += orig.Y + chf.ch; // Is this offset necessary? See
-                    // https://groups.google.com/d/msg/recastnavigation/UQFN6BGCcV0/-1Ny4koOBpkJ
                     verts[j * 3 + 2] += orig.Z;
                 }
 
@@ -1551,7 +1557,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        public static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 

From ed7173dd51013e6f5b70087853702528e9de0986 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 8 Jun 2024 14:21:38 +0900
Subject: [PATCH 068/147] Removed RcVecUtils.Min(), RcVecUtils.Max()

---
 CHANGELOG.md                                              | 1 +
 src/DotRecast.Detour.Extras/BVTreeBuilder.cs              | 4 ++--
 src/DotRecast.Detour/DtNavMesh.cs                         | 4 ++--
 src/DotRecast.Detour/DtNavMeshBuilder.cs                  | 4 ++--
 src/DotRecast.Detour/DtNavMeshQuery.cs                    | 4 ++--
 .../Geom/DemoInputGeomProvider.cs                         | 4 ++--
 src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs      | 4 ++--
 src/DotRecast.Recast/RcAreas.cs                           | 4 ++--
 src/DotRecast.Recast/RcMeshDetails.cs                     | 4 ++--
 src/DotRecast.Recast/RcRasterizations.cs                  | 8 ++++----
 10 files changed, 21 insertions(+), 20 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2e3b148..74ef1b2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
 - Removed RcVecUtils.Subtract(float[] verts, int i, int j)
 - Removed RcMeshDetails.VdistSq2(float[], float[])
+- Removed RcVecUtils.Min(), RcVecUtils.Max()
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
index e23c892..e31200f 100644
--- a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
+++ b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
@@ -44,8 +44,8 @@ namespace DotRecast.Detour.Extras
                 RcVec3f bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
                 for (int j = 1; j < data.polys[i].vertCount; j++)
                 {
-                    bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3);
-                    bmax = RcVecUtils.Max(bmax, data.verts, data.polys[i].verts[j] * 3);
+                    bmin = RcVec3f.Min(bmin, RcVecUtils.Create(data.verts, data.polys[i].verts[j] * 3));
+                    bmax = RcVec3f.Max(bmax, RcVecUtils.Create(data.verts, data.polys[i].verts[j] * 3));
                 }
 
                 it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index b1a0cad..b6aac0c 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -324,8 +324,8 @@ namespace DotRecast.Detour
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
-                        bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
+                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(tile.data.verts, v));
+                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(tile.data.verts, v));
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index a016139..ba6b452 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -168,8 +168,8 @@ namespace DotRecast.Detour
                     var bmax = RcVecUtils.Create(option.detailVerts, dv);
                     for (int j = 1; j < ndv; j++)
                     {
-                        bmin = RcVecUtils.Min(bmin, option.detailVerts, dv + j * 3);
-                        bmax = RcVecUtils.Max(bmax, option.detailVerts, dv + j * 3);
+                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(option.detailVerts, dv + j * 3));
+                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(option.detailVerts, dv + j * 3));
                     }
 
                     // BV-tree uses cs for all dimensions
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index cceba0b..2978f9a 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -675,8 +675,8 @@ namespace DotRecast.Detour
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
-                        bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
+                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(tile.data.verts, v));
+                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(tile.data.verts, v));
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 61dbf11..444a654 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -61,8 +61,8 @@ namespace DotRecast.Recast.Toolset.Geom
             bmax = RcVecUtils.Create(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
index bef11fc..74b4ff4 100644
--- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
@@ -81,8 +81,8 @@ namespace DotRecast.Recast.Geom
             bmax = RcVecUtils.Create(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
diff --git a/src/DotRecast.Recast/RcAreas.cs b/src/DotRecast.Recast/RcAreas.cs
index 75d68f8..2405883 100644
--- a/src/DotRecast.Recast/RcAreas.cs
+++ b/src/DotRecast.Recast/RcAreas.cs
@@ -460,8 +460,8 @@ namespace DotRecast.Recast
             RcVec3f bmax = RcVecUtils.Create(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
-                bmin = RcVecUtils.Min(bmin, verts, i);
-                bmax = RcVecUtils.Max(bmax, verts, i);
+                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(verts, i));
+                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(verts, i));
             }
 
             bmin.Y = minY;
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 0230953..891c632 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -935,8 +935,8 @@ namespace DotRecast.Recast
                 RcVec3f bmax = RcVecUtils.Create(@in);
                 for (int i = 1; i < nin; ++i)
                 {
-                    bmin = RcVecUtils.Min(bmin, @in, i * 3);
-                    bmax = RcVecUtils.Max(bmax, @in, i * 3);
+                    bmin = RcVec3f.Min(bmin, RcVecUtils.Create(@in, i * 3));
+                    bmax = RcVec3f.Max(bmax, RcVecUtils.Create(@in, i * 3));
                 }
 
                 int x0 = (int)MathF.Floor(bmin.X / sampleDist);
diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs
index 5e5e164..dbe74e1 100644
--- a/src/DotRecast.Recast/RcRasterizations.cs
+++ b/src/DotRecast.Recast/RcRasterizations.cs
@@ -296,12 +296,12 @@ namespace DotRecast.Recast
         {
             // Calculate the bounding box of the triangle.
             RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
-            triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3);
-            triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3);
+            triBBMin = RcVec3f.Min(triBBMin, RcVecUtils.Create(verts, v1 * 3));
+            triBBMin = RcVec3f.Min(triBBMin, RcVecUtils.Create(verts, v2 * 3));
 
             RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
-            triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3);
-            triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3);
+            triBBMax = RcVec3f.Max(triBBMax, RcVecUtils.Create(verts, v1 * 3));
+            triBBMax = RcVec3f.Max(triBBMax, RcVecUtils.Create(verts, v2 * 3));
 
             // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
             if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))

From fd03f0f12fd3a3f79e732e9a7a5641c0d305a0f9 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 8 Jun 2024 14:24:47 +0900
Subject: [PATCH 069/147] Removed RcVecUtils.Create(float[] values)

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Core/Numerics/RcVec3f.cs        | 13 ++++++++++
 src/DotRecast.Core/Numerics/RcVecUtils.cs     | 26 -------------------
 src/DotRecast.Core/RcThrowHelper.cs           |  6 +++++
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  |  2 +-
 .../Geom/DemoInputGeomProvider.cs             |  4 +--
 .../Geom/SimpleInputGeomProvider.cs           |  4 +--
 src/DotRecast.Recast/RcAreas.cs               |  4 +--
 .../RcFilledVolumeRasterization.cs            |  8 +++---
 src/DotRecast.Recast/RcMeshDetails.cs         |  4 +--
 10 files changed, 33 insertions(+), 39 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 74ef1b2..4e38c3d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Removed RcVecUtils.Subtract(float[] verts, int i, int j)
 - Removed RcMeshDetails.VdistSq2(float[], float[])
 - Removed RcVecUtils.Min(), RcVecUtils.Max()
+- Removed RcVecUtils.Create(float[] values)
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Core/Numerics/RcVec3f.cs b/src/DotRecast.Core/Numerics/RcVec3f.cs
index 4c35eb5..d928945 100644
--- a/src/DotRecast.Core/Numerics/RcVec3f.cs
+++ b/src/DotRecast.Core/Numerics/RcVec3f.cs
@@ -50,6 +50,19 @@ namespace DotRecast.Core.Numerics
             Z = f;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public RcVec3f(ReadOnlySpan<float> values)
+        {
+            if (values.Length < 3)
+            {
+                RcThrowHelper.ThrowArgumentOutOfRangeException(nameof(values));
+            }
+
+            X = values[0];
+            Y = values[1];
+            Z = values[2];
+        }
+
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public readonly float Length()
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 86a47b4..80138ad 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -7,12 +7,6 @@ namespace DotRecast.Core.Numerics
     {
         public const float EPSILON = 1e-6f;
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Create(float[] values)
-        {
-            return Create(values, 0);
-        }
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcVec3f Create(Span<float> values, int n)
         {
@@ -112,26 +106,6 @@ namespace DotRecast.Core.Numerics
             return v;
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Min(RcVec3f v, float[] @in, int i)
-        {
-            return new RcVec3f(
-                (v.X < @in[i + 0]) ? v.X : @in[i + 0],
-                (v.Y < @in[i + 1]) ? v.Y : @in[i + 1],
-                (v.Z < @in[i + 2]) ? v.Z : @in[i + 2]
-            );
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Max(RcVec3f v, float[] @in, int i)
-        {
-            return new RcVec3f(
-                (v.X > @in[i + 0]) ? v.X : @in[i + 0],
-                (v.Y > @in[i + 1]) ? v.Y : @in[i + 1],
-                (v.Z > @in[i + 2]) ? v.Z : @in[i + 2]
-            );
-        }
-
         /// Derives the distance between the specified points on the xz-plane.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
diff --git a/src/DotRecast.Core/RcThrowHelper.cs b/src/DotRecast.Core/RcThrowHelper.cs
index 4eb6526..b3f484b 100644
--- a/src/DotRecast.Core/RcThrowHelper.cs
+++ b/src/DotRecast.Core/RcThrowHelper.cs
@@ -15,6 +15,12 @@ namespace DotRecast.Core
             }
         }
         
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ThrowArgumentOutOfRangeException(string argument)
+        {
+            throw new ArgumentOutOfRangeException(argument);
+        }
+        
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void StackOverflow()
         {
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 740b271..5a01d3c 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -436,7 +436,7 @@ namespace DotRecast.Detour.Crowd
             else if (n == 0)
             {
                 // The first polyref is bad, use current safe values.
-                m_pos = RcVecUtils.Create(safePos);
+                m_pos = new RcVec3f(safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_npath = 1;
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 444a654..9d6ba80 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -57,8 +57,8 @@ namespace DotRecast.Recast.Toolset.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
                 bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
index 74b4ff4..56f281f 100644
--- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
@@ -77,8 +77,8 @@ namespace DotRecast.Recast.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
                 bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
diff --git a/src/DotRecast.Recast/RcAreas.cs b/src/DotRecast.Recast/RcAreas.cs
index 2405883..011d45e 100644
--- a/src/DotRecast.Recast/RcAreas.cs
+++ b/src/DotRecast.Recast/RcAreas.cs
@@ -456,8 +456,8 @@ namespace DotRecast.Recast
             int zStride = xSize; // For readability
 
             // Compute the bounding box of the polygon
-            RcVec3f bmin = RcVecUtils.Create(verts);
-            RcVec3f bmax = RcVecUtils.Create(verts);
+            RcVec3f bmin = new RcVec3f(verts);
+            RcVec3f bmax = new RcVec3f(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
                 bmin = RcVec3f.Min(bmin, RcVecUtils.Create(verts, i));
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index fd558b2..e6a20e9 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -525,7 +525,7 @@ namespace DotRecast.Recast
                 {
                     if (MathF.Abs(planes[j][1]) > EPSILON)
                     {
-                        float dotNormalPoint = RcVec3f.Dot(RcVecUtils.Create(planes[j]), point);
+                        float dotNormalPoint = RcVec3f.Dot(new RcVec3f(planes[j]), point);
                         float t = (planes[j][3] - dotNormalPoint) / planes[j][1];
                         float y = point.Y + t;
                         bool valid = true;
@@ -729,15 +729,15 @@ namespace DotRecast.Recast
         private static bool RayTriangleIntersection(RcVec3f point, int plane, float[][] planes, out float y)
         {
             y = 0.0f;
-            float t = (planes[plane][3] - RcVec3f.Dot(RcVecUtils.Create(planes[plane]), point)) / planes[plane][1];
+            float t = (planes[plane][3] - RcVec3f.Dot(new RcVec3f(planes[plane]), point)) / planes[plane][1];
             RcVec3f s = new RcVec3f(point.X, point.Y + t, point.Z);
-            float u = RcVec3f.Dot(s, RcVecUtils.Create(planes[plane + 1])) - planes[plane + 1][3];
+            float u = RcVec3f.Dot(s, new RcVec3f(planes[plane + 1])) - planes[plane + 1][3];
             if (u < 0.0f || u > 1.0f)
             {
                 return false;
             }
 
-            float v = RcVec3f.Dot(s, RcVecUtils.Create(planes[plane + 2])) - planes[plane + 2][3];
+            float v = RcVec3f.Dot(s, new RcVec3f(planes[plane + 2])) - planes[plane + 2][3];
             if (v < 0.0f)
             {
                 return false;
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index 891c632..b637b3b 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -931,8 +931,8 @@ namespace DotRecast.Recast
             if (sampleDist > 0)
             {
                 // Create sample locations in a grid.
-                RcVec3f bmin = RcVecUtils.Create(@in);
-                RcVec3f bmax = RcVecUtils.Create(@in);
+                RcVec3f bmin = new RcVec3f(@in);
+                RcVec3f bmax = new RcVec3f(@in);
                 for (int i = 1; i < nin; ++i)
                 {
                     bmin = RcVec3f.Min(bmin, RcVecUtils.Create(@in, i * 3));

From 320c7b4c652146e9272d5289c8c666105f13a441 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 8 Jun 2024 20:56:55 +0900
Subject: [PATCH 070/147] Removed RcVecUtils.Dot2D(this RcVec3f @this,
 Span<float> v, int vi)

---
 CHANGELOG.md                              | 3 ++-
 src/DotRecast.Core/Numerics/RcVecUtils.cs | 7 -------
 src/DotRecast.Detour/DtUtils.cs           | 4 ++--
 3 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4e38c3d..645f366 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,13 +16,14 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed to reuse samples and edges list in BuildPolyDetail()
 
 ### Removed
+- Removed RcMeshDetails.VdistSq2(float[], float[])
 - Removed RcVecUtils.Dot()
 - Removed RcVecUtils.Scale()
 - Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
 - Removed RcVecUtils.Subtract(float[] verts, int i, int j)
-- Removed RcMeshDetails.VdistSq2(float[], float[])
 - Removed RcVecUtils.Min(), RcVecUtils.Max()
 - Removed RcVecUtils.Create(float[] values)
+- Removed RcVecUtils.Dot2D(this RcVec3f @this, Span<float> v, int vi)
 
 ### Special Thanks
 - [@Doprez](https://github.com/Doprez)
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 80138ad..68bdaec 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -50,13 +50,6 @@ namespace DotRecast.Core.Numerics
                    @this.Z * v.Z;
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot2D(this RcVec3f @this, Span<float> v, int vi)
-        {
-            return @this.X * v[vi] +
-                   @this.Z * v[vi + 2];
-        }
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 098116c..5f93ea5 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -249,10 +249,10 @@ namespace DotRecast.Detour
         public static RcVec2f ProjectPoly(RcVec3f axis, Span<float> poly, int npoly)
         {
             float rmin, rmax;
-            rmin = rmax = axis.Dot2D(poly, 0);
+            rmin = rmax = axis.Dot2D(new RcVec3f(poly));
             for (int i = 1; i < npoly; ++i)
             {
-                float d = axis.Dot2D(poly, i * 3);
+                float d = axis.Dot2D(RcVecUtils.Create(poly, i * 3));
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }

From 3417ecae361ae696d8d63cd68c29f6c50c786606 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 10 Jun 2024 14:09:06 +0900
Subject: [PATCH 071/147] Serilog.Sinks.Console 6.0.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index c5c9a1a..d15a38c 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -24,7 +24,7 @@
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.1" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
-    <PackageReference Include="Serilog.Sinks.Console" Version="5.0.1" />
+    <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
     <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     <PackageReference Include="Silk.NET" Version="2.21.0" />

From 65c572a4c2e6c3267276fb2672c2fb98648201a0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 11 Jun 2024 00:44:20 +0900
Subject: [PATCH 072/147] Changed 'heights', 'areas', 'cons', and 'regs' arrays
 to byte arrays for uniformity and efficiency in DtTileCacheLayer

---
 CHANGELOG.md                                  |  1 +
 .../DtLayerMonotoneRegion.cs                  |  6 +--
 .../DtTileCacheBuilder.cs                     | 50 +++++++++----------
 .../DtTileCacheLayer.cs                       | 13 ++---
 src/DotRecast.Recast/RcLayerSweepSpan.cs      |  4 +-
 src/DotRecast.Recast/RcLayers.cs              | 14 +++---
 6 files changed, 43 insertions(+), 45 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 645f366..a6e3d40 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Changed
 - Changed to reuse samples and edges list in BuildPolyDetail()
+- Changed 'heights', 'areas', 'cons', and 'regs' arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
index 2add1a2..f4b885c 100644
--- a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
+++ b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
@@ -7,8 +7,8 @@ namespace DotRecast.Detour.TileCache
         public const int DT_LAYER_MAX_NEIS = 16;
 
         public int area;
-        public List<int> neis = new List<int>(DT_LAYER_MAX_NEIS);
-        public int regId;
-        public int areaId;
+        public List<byte> neis = new List<byte>(DT_LAYER_MAX_NEIS);
+        public byte regId;
+        public byte areaId;
     };
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 2a26972..21b104f 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -43,7 +43,7 @@ namespace DotRecast.Detour.TileCache
             int w = layer.header.width;
             int h = layer.header.height;
 
-            Array.Fill(layer.regs, (short)0x00FF);
+            Array.Fill(layer.regs, (byte)0xFF);
             int nsweeps = w;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
@@ -53,7 +53,7 @@ namespace DotRecast.Detour.TileCache
 
             // Partition walkable area into monotone regions.
             int[] prevCount = new int[256];
-            int regId = 0;
+            byte regId = 0;
 
             for (int y = 0; y < h; ++y)
             {
@@ -92,7 +92,7 @@ namespace DotRecast.Detour.TileCache
                     int yidx = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, yidx, walkableClimb))
                     {
-                        int nr = layer.regs[yidx];
+                        byte nr = layer.regs[yidx];
                         if (nr != 0xff)
                         {
                             // Set neighbour when first valid neighbour is
@@ -146,12 +146,12 @@ namespace DotRecast.Detour.TileCache
                 {
                     int idx = x + y * w;
                     if (layer.regs[idx] != 0xff)
-                        layer.regs[idx] = (short)sweeps[layer.regs[idx]].id;
+                        layer.regs[idx] = sweeps[layer.regs[idx]].id;
                 }
             }
 
             // Allocate and init layer regions.
-            int nregs = regId;
+            byte nregs = regId;
             DtLayerMonotoneRegion[] regs = new DtLayerMonotoneRegion[nregs];
 
             for (int i = 0; i < nregs; ++i)
@@ -166,7 +166,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -178,7 +178,7 @@ namespace DotRecast.Detour.TileCache
                     int ymi = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, ymi, walkableClimb))
                     {
-                        int rai = layer.regs[ymi];
+                        byte rai = layer.regs[ymi];
                         if (rai != 0xff && rai != ri)
                         {
                             AddUniqueLast(regs[ri].neis, rai);
@@ -188,7 +188,7 @@ namespace DotRecast.Detour.TileCache
                 }
             }
 
-            for (int i = 0; i < nregs; ++i)
+            for (byte i = 0; i < nregs; ++i)
                 regs[i].regId = i;
 
             for (int i = 0; i < nregs; ++i)
@@ -217,7 +217,7 @@ namespace DotRecast.Detour.TileCache
                 if (merge != -1)
                 {
                     int oldId = reg.regId;
-                    int newId = regs[merge].regId;
+                    byte newId = regs[merge].regId;
                     for (int j = 0; j < nregs; ++j)
                         if (regs[j].regId == oldId)
                             regs[j].regId = newId;
@@ -225,7 +225,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Compact ids.
-            int[] remap = new int[256];
+            byte[] remap = new byte[256];
             // Find number of unique regions.
             regId = 0;
             for (int i = 0; i < nregs; ++i)
@@ -242,11 +242,11 @@ namespace DotRecast.Detour.TileCache
             for (int i = 0; i < w * h; ++i)
             {
                 if (layer.regs[i] != 0xff)
-                    layer.regs[i] = (short)regs[layer.regs[i]].regId;
+                    layer.regs[i] = regs[layer.regs[i]].regId;
             }
         }
 
-        public static void AddUniqueLast(List<int> a, int v)
+        public static void AddUniqueLast(List<byte> a, byte v)
         {
             int n = a.Count;
             if (n > 0 && a[n - 1] == v)
@@ -1800,7 +1800,7 @@ namespace DotRecast.Detour.TileCache
             return mesh;
         }
 
-        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
+        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, byte areaId)
         {
             RcVec3f bmin = new RcVec3f();
             RcVec3f bmax = new RcVec3f();
@@ -1856,12 +1856,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
 
-        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -1900,7 +1900,7 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
@@ -1975,22 +1975,22 @@ namespace DotRecast.Detour.TileCache
 
             int gridSize = layer.header.width * layer.header.height;
             byte[] grids = comp.Decompress(compressed, buf.Position(), compressed.Length - buf.Position(), gridSize * 3);
-            layer.heights = new short[gridSize];
-            layer.areas = new short[gridSize];
-            layer.cons = new short[gridSize];
-            layer.regs = new short[gridSize];
+            layer.heights = new byte[gridSize];
+            layer.areas = new byte[gridSize];
+            layer.cons = new byte[gridSize];
+            layer.regs = new byte[gridSize];
             for (int i = 0; i < gridSize; i++)
             {
-                layer.heights[i] = (short)(grids[i] & 0xFF);
-                layer.areas[i] = (short)(grids[i + gridSize] & 0xFF);
-                layer.cons[i] = (short)(grids[i + gridSize * 2] & 0xFF);
+                layer.heights[i] = (byte)(grids[i] & 0xFF);
+                layer.areas[i] = (byte)(grids[i + gridSize] & 0xFF);
+                layer.cons[i] = (byte)(grids[i + gridSize * 2] & 0xFF);
             }
 
             return layer;
         }
 
         public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
-            float[] rotAux, int areaId)
+            float[] rotAux, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -2043,7 +2043,7 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
index e3536ba..a62aa59 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs
@@ -23,13 +23,10 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCacheLayer
     {
         public DtTileCacheLayerHeader header;
-        public int regCount;
-
-        /// < Region count.
-        public short[] heights; // char
-
-        public short[] areas; // char
-        public short[] cons; // char
-        public short[] regs; // char
+        public byte regCount; // < Region count.
+        public byte[] heights; // unsigned char
+        public byte[] areas; // unsigned char
+        public byte[] cons; // unsigned char
+        public byte[] regs; // unsigned char
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcLayerSweepSpan.cs b/src/DotRecast.Recast/RcLayerSweepSpan.cs
index f0c2a7d..3f98047 100644
--- a/src/DotRecast.Recast/RcLayerSweepSpan.cs
+++ b/src/DotRecast.Recast/RcLayerSweepSpan.cs
@@ -3,7 +3,7 @@
     public class RcLayerSweepSpan
     {
         public int ns; // number samples
-        public int id; // region id
-        public int nei; // neighbour id
+        public byte id; // region id
+        public byte nei; // neighbour id
     };
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index aa1f03e..98cee66 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -80,10 +80,10 @@ namespace DotRecast.Recast
             int w = chf.width;
             int h = chf.height;
             
-            int[] srcReg = new int[chf.spanCount];
-            Array.Fill(srcReg, 0xFF);
+            byte[] srcReg = new byte[chf.spanCount];
+            Array.Fill(srcReg, (byte)0xFF);
             
-            int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
+            int nsweeps = chf.width;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
@@ -92,14 +92,14 @@ namespace DotRecast.Recast
 
             // Partition walkable area into monotone regions.
             int[] prevCount = new int[256];
-            int regId = 0;
+            byte regId = 0;
             
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
                 Array.Fill(prevCount, 0);
-                int sweepId = 0;
+                byte sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
                 {
@@ -111,7 +111,7 @@ namespace DotRecast.Recast
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
                         
-                        int sid = 0xFF;
+                        byte sid = 0xFF;
                         
                         // -x
                         if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
@@ -136,7 +136,7 @@ namespace DotRecast.Recast
                             int ax = x + GetDirOffsetX(3);
                             int ay = y + GetDirOffsetY(3);
                             int ai = chf.cells[ax + ay * w].index + GetCon(ref s, 3);
-                            int nr = srcReg[ai];
+                            byte nr = srcReg[ai];
                             if (nr != 0xff)
                             {
                                 // Set neighbour when first valid neighbour is encoutered.

From b88b6096f6dbf19cf76ecfd3187bf17489effd41 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 11 Jun 2024 22:23:06 +0900
Subject: [PATCH 073/147] Fixed where the dynamic voxel save file browser
 doesn't appear In Demo

---
 CHANGELOG.md                                          |  2 +-
 .../Tools/DynamicUpdateSampleTool.cs                  | 11 +++++------
 .../Tools/RcDynamicUpdateTool.cs                      |  2 +-
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a6e3d40..9cd5c25 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Fixed
-- Nothing
+- Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo
 
 ### Changed
 - Changed to reuse samples and edges list in BuildPolyDetail()
diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
index fd54f71..54dfd25 100644
--- a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
@@ -116,7 +116,8 @@ public class DynamicUpdateSampleTool : ISampleTool
 
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
-            var loadVoxelPopupStrId = "Load Voxels Popup";
+            const string loadVoxelPopupStrId = "Load Voxels Popup";
+            
             bool isLoadVoxelPopup = true;
             if (ImGui.Button("Load Voxels..."))
             {
@@ -135,7 +136,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.EndPopup();
             }
 
-            var saveVoxelPopupStrId = "Save Voxels Popup";
+            const string saveVoxelPopupStrId = "Save Voxels Popup";
             bool isSaveVoxelPopup = true;
 
             var dynaMesh = _tool.GetDynamicNavMesh();
@@ -144,7 +145,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.Checkbox("Compression", ref compression);
                 if (ImGui.Button("Save Voxels..."))
                 {
-                    ImGui.BeginPopup(saveVoxelPopupStrId);
+                    ImGui.OpenPopup(saveVoxelPopupStrId);
                 }
 
                 if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar))
@@ -152,9 +153,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                     var picker = ImFilePicker.GetFilePicker(saveVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels");
                     if (picker.Draw())
                     {
-                        if (string.IsNullOrEmpty(picker.SelectedFile))
-                            Save(picker.SelectedFile);
-
+                        Save(picker.SelectedFile);
                         ImFilePicker.RemoveFilePicker(saveVoxelPopupStrId);
                     }
 
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
index 83cc474..f5e2ac5 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
@@ -159,7 +159,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public void Save(string filename, bool compression, IRcCompressor compressor)
         {
             DtVoxelFile voxelFile = DtVoxelFile.From(dynaMesh);
-            using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
+            using var fs = new FileStream(filename, FileMode.OpenOrCreate, FileAccess.Write, FileShare.ReadWrite);
             using var bw = new BinaryWriter(fs);
             DtVoxelFileWriter writer = new DtVoxelFileWriter(compressor);
             writer.Write(bw, voxelFile, compression);

From 650849b11baf5a2b2489e01a7d323fac88d1f4f0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 12 Jun 2024 00:03:59 +0900
Subject: [PATCH 074/147] Changed 'reg', 'area' arrays to byte arrays for
 uniformity and efficiency in DtTileCacheContour

---
 CHANGELOG.md                                  |  3 ++-
 .../DtTileCacheBuilder.cs                     |  2 +-
 .../DtTileCacheContour.cs                     |  4 ++--
 .../DtTileCachePolyMesh.cs                    | 23 +++++--------------
 4 files changed, 11 insertions(+), 21 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9cd5c25..96910a5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,7 +15,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Changed
 - Changed to reuse samples and edges list in BuildPolyDetail()
 - Changed 'heights', 'areas', 'cons', and 'regs' arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer
-
+- Changed 'reg', 'area' arrays to byte arrays for uniformity and efficiency in DtTileCacheContour
+  
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
 - Removed RcVecUtils.Dot()
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 21b104f..819ac9e 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -655,7 +655,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs b/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
index 43da3a5..1f297a8 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheContour.cs
@@ -24,7 +24,7 @@ namespace DotRecast.Detour.TileCache
     {
         public int nverts;
         public int[] verts;
-        public int reg;
-        public int area;
+        public byte reg;
+        public byte area;
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs b/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
index eebe326..b73e2db 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs
@@ -23,24 +23,13 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCachePolyMesh
     {
         public int nvp;
-        public int nverts;
+        public int nverts; // < 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.
 
-        /// < 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 DtTileCachePolyMesh(int nvp)
         {
             this.nvp = nvp;

From 5827a43dd8472c95d6d406185a4881ea56c6d4b3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 12 Jun 2024 00:41:39 +0900
Subject: [PATCH 075/147] Changed `RcChunkyTriMesh` to separate the function
 and variable.

---
 CHANGELOG.md                                  |   7 +-
 .../Geom/DemoInputGeomProvider.cs             |   2 +-
 src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs  | 270 +---------------
 src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs | 305 ++++++++++++++++++
 src/DotRecast.Recast/Geom/RcTriMesh.cs        |   5 +-
 5 files changed, 316 insertions(+), 273 deletions(-)
 create mode 100644 src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 96910a5..b1972c0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,9 +13,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo
 
 ### Changed
-- Changed to reuse samples and edges list in BuildPolyDetail()
-- Changed 'heights', 'areas', 'cons', and 'regs' arrays to byte arrays for uniformity and efficiency in DtTileCacheLayer
-- Changed 'reg', 'area' arrays to byte arrays for uniformity and efficiency in DtTileCacheContour
+- Changed to reuse samples and edges list in `BuildPolyDetail()`
+- Changed `heights`, `areas`, `cons`, and `regs` arrays to byte arrays for uniformity and efficiency in `DtTileCacheLayer`
+- Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
+- Changed `RcChunkyTriMesh` to separate the function and variable.
   
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 9d6ba80..498f70b 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -150,7 +150,7 @@ namespace DotRecast.Recast.Toolset.Geom
             q.X = src.X + (dst.X - src.X) * btmax;
             q.Y = src.Z + (dst.Z - src.Z) * btmax;
 
-            List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q);
+            List<RcChunkyTriMeshNode> chunks = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
             if (0 == chunks.Count)
             {
                 return false;
diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
index d62a8d7..4e7a2ad 100644
--- a/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs
@@ -18,278 +18,14 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System;
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
     public class RcChunkyTriMesh
     {
-        private List<RcChunkyTriMeshNode> nodes;
-        private int ntris;
-        private int maxTrisPerChunk;
-
-        private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
-        {
-            bmin.X = items[imin].bmin.X;
-            bmin.Y = items[imin].bmin.Y;
-
-            bmax.X = items[imin].bmax.X;
-            bmax.Y = items[imin].bmax.Y;
-
-            for (int i = imin + 1; i < imax; ++i)
-            {
-                BoundsItem it = items[i];
-                if (it.bmin.X < bmin.X)
-                {
-                    bmin.X = it.bmin.X;
-                }
-
-                if (it.bmin.Y < bmin.Y)
-                {
-                    bmin.Y = it.bmin.Y;
-                }
-
-                if (it.bmax.X > bmax.X)
-                {
-                    bmax.X = it.bmax.X;
-                }
-
-                if (it.bmax.Y > bmax.Y)
-                {
-                    bmax.Y = it.bmax.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<RcChunkyTriMeshNode> nodes, int[] inTris)
-        {
-            int inum = imax - imin;
-
-            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
-            nodes.Add(node);
-
-            if (inum <= trisPerChunk)
-            {
-                // Leaf
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                // Copy triangles.
-                node.i = nodes.Count;
-                node.tris = new int[inum * 3];
-
-                int dst = 0;
-                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
-            {
-                // Split
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
-
-                if (axis == 0)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
-                    // Sort along x-axis
-                }
-                else if (axis == 1)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
-                    // Sort along y-axis
-                }
-
-                int isplit = imin + inum / 2;
-
-                // Left
-                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
-                // Right
-                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
-
-                // Negative index means escape.
-                node.i = -nodes.Count;
-            }
-        }
-
-        public RcChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
-        {
-            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
-
-            nodes = new List<RcChunkyTriMeshNode>(nchunks);
-            this.ntris = ntris;
-
-            // Build tree
-            BoundsItem[] items = new BoundsItem[ntris];
-
-            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.X = it.bmax.X = verts[tris[t] * 3 + 0];
-                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
-                for (int j = 1; j < 3; ++j)
-                {
-                    int v = tris[t + j] * 3;
-                    if (verts[v] < it.bmin.X)
-                    {
-                        it.bmin.X = verts[v];
-                    }
-
-                    if (verts[v + 2] < it.bmin.Y)
-                    {
-                        it.bmin.Y = verts[v + 2];
-                    }
-
-                    if (verts[v] > it.bmax.X)
-                    {
-                        it.bmax.X = verts[v];
-                    }
-
-                    if (verts[v + 2] > it.bmax.Y)
-                    {
-                        it.bmax.Y = verts[v + 2];
-                    }
-                }
-            }
-
-            Subdivide(items, 0, ntris, trisPerChunk, nodes, tris);
-
-            // Calc max tris per node.
-            maxTrisPerChunk = 0;
-            foreach (RcChunkyTriMeshNode node in nodes)
-            {
-                bool isLeaf = node.i >= 0;
-                if (!isLeaf)
-                {
-                    continue;
-                }
-
-                if (node.tris.Length / 3 > maxTrisPerChunk)
-                {
-                    maxTrisPerChunk = node.tris.Length / 3;
-                }
-            }
-        }
-
-        private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
-        {
-            bool overlap = true;
-            overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
-            overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
-            return overlap;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
-        {
-            const float EPSILON = 1e-6f;
-
-            float tmin = 0;
-            float tmax = 1;
-            var d = new RcVec2f();
-            d.X = q.X - p.X;
-            d.Y = q.Y - p.Y;
-
-            for (int i = 0; i < 2; i++)
-            {
-                if (MathF.Abs(d.Get(i)) < EPSILON)
-                {
-                    // Ray is parallel to slab. No hit if origin not within slab
-                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
-                        return false;
-                }
-                else
-                {
-                    // Compute intersection t value of ray with near and far plane of slab
-                    float ood = 1.0f / d.Get(i);
-                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
-                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
-                    if (t1 > t2)
-                    {
-                        (t1, t2) = (t2, t1);
-                    }
-
-                    if (t1 > tmin)
-                        tmin = t1;
-                    if (t2 < tmax)
-                        tmax = t2;
-                    if (tmin > tmax)
-                        return false;
-                }
-            }
-
-            return true;
-        }
+        public List<RcChunkyTriMeshNode> nodes;
+        public int ntris;
+        public int maxTrisPerChunk;
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
new file mode 100644
index 0000000..e7f1f8c
--- /dev/null
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
@@ -0,0 +1,305 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Recast.Geom
+{
+    public static class RcChunkyTriMeshs
+    {
+        /// Creates partitioned triangle mesh (AABB tree),
+        /// where each node contains at max trisPerChunk triangles.
+        public static bool CreateChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk, RcChunkyTriMesh cm)
+        {
+            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
+
+            cm.nodes = new List<RcChunkyTriMeshNode>(nchunks);
+            cm.ntris = ntris;
+
+            // Build tree
+            BoundsItem[] items = new BoundsItem[ntris];
+            for (int i = 0; i < ntris; ++i)
+            {
+                items[i] = new BoundsItem();
+            }
+
+            for (int i = 0; i < ntris; i++)
+            {
+                int t = i * 3;
+                BoundsItem it = items[i];
+                it.i = i;
+                // Calc triangle XZ bounds.
+                it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
+                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
+                for (int j = 1; j < 3; ++j)
+                {
+                    int v = tris[t + j] * 3;
+                    if (verts[v] < it.bmin.X)
+                    {
+                        it.bmin.X = verts[v];
+                    }
+
+                    if (verts[v + 2] < it.bmin.Y)
+                    {
+                        it.bmin.Y = verts[v + 2];
+                    }
+
+                    if (verts[v] > it.bmax.X)
+                    {
+                        it.bmax.X = verts[v];
+                    }
+
+                    if (verts[v + 2] > it.bmax.Y)
+                    {
+                        it.bmax.Y = verts[v + 2];
+                    }
+                }
+            }
+
+            Subdivide(items, 0, ntris, trisPerChunk, cm.nodes, tris);
+
+            items = null;
+
+            // Calc max tris per node.
+            cm.maxTrisPerChunk = 0;
+            foreach (RcChunkyTriMeshNode node in cm.nodes)
+            {
+                bool isLeaf = node.i >= 0;
+                if (!isLeaf)
+                {
+                    continue;
+                }
+
+                if (node.tris.Length / 3 > cm.maxTrisPerChunk)
+                {
+                    cm.maxTrisPerChunk = node.tris.Length / 3;
+                }
+            }
+
+            return true;
+        }
+
+        /// Returns the chunk indices which overlap the input rectable.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, float[] bmin, float[] bmax)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+        /// Returns the chunk indices which overlap the input segment.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcChunkyTriMesh cm, RcVec2f p, RcVec2f q)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+
+        private static void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
+        {
+            bmin.X = items[imin].bmin.X;
+            bmin.Y = items[imin].bmin.Y;
+
+            bmax.X = items[imin].bmax.X;
+            bmax.Y = items[imin].bmax.Y;
+
+            for (int i = imin + 1; i < imax; ++i)
+            {
+                BoundsItem it = items[i];
+                if (it.bmin.X < bmin.X)
+                {
+                    bmin.X = it.bmin.X;
+                }
+
+                if (it.bmin.Y < bmin.Y)
+                {
+                    bmin.Y = it.bmin.Y;
+                }
+
+                if (it.bmax.X > bmax.X)
+                {
+                    bmax.X = it.bmax.X;
+                }
+
+                if (it.bmax.Y > bmax.Y)
+                {
+                    bmax.Y = it.bmax.Y;
+                }
+            }
+        }
+
+        private static int LongestAxis(float x, float y)
+        {
+            return y > x ? 1 : 0;
+        }
+
+        private static void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
+        {
+            int inum = imax - imin;
+
+            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
+            nodes.Add(node);
+
+            if (inum <= trisPerChunk)
+            {
+                // Leaf
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                // Copy triangles.
+                node.i = nodes.Count;
+                node.tris = new int[inum * 3];
+
+                int dst = 0;
+                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
+            {
+                // Split
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
+
+                if (axis == 0)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
+                    // Sort along x-axis
+                }
+                else if (axis == 1)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
+                    // Sort along y-axis
+                }
+
+                int isplit = imin + inum / 2;
+
+                // Left
+                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
+                // Right
+                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
+
+                // Negative index means escape.
+                node.i = -nodes.Count;
+            }
+        }
+
+        private static bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
+        {
+            bool overlap = true;
+            overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
+            overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
+            return overlap;
+        }
+
+
+        private static bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
+        {
+            const float EPSILON = 1e-6f;
+
+            float tmin = 0;
+            float tmax = 1;
+            var d = new RcVec2f();
+            d.X = q.X - p.X;
+            d.Y = q.Y - p.Y;
+
+            for (int i = 0; i < 2; i++)
+            {
+                if (MathF.Abs(d.Get(i)) < EPSILON)
+                {
+                    // Ray is parallel to slab. No hit if origin not within slab
+                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
+                        return false;
+                }
+                else
+                {
+                    // Compute intersection t value of ray with near and far plane of slab
+                    float ood = 1.0f / d.Get(i);
+                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
+                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
+                    if (t1 > t2)
+                    {
+                        (t1, t2) = (t2, t1);
+                    }
+
+                    if (t1 > tmin)
+                        tmin = t1;
+                    if (t2 < tmax)
+                        tmax = t2;
+                    if (tmin > tmax)
+                        return false;
+                }
+            }
+
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Recast/Geom/RcTriMesh.cs b/src/DotRecast.Recast/Geom/RcTriMesh.cs
index cba5dd4..5cd22d1 100644
--- a/src/DotRecast.Recast/Geom/RcTriMesh.cs
+++ b/src/DotRecast.Recast/Geom/RcTriMesh.cs
@@ -32,7 +32,8 @@ namespace DotRecast.Recast.Geom
         {
             this.vertices = vertices;
             this.faces = faces;
-            chunkyTriMesh = new RcChunkyTriMesh(vertices, faces, faces.Length / 3, 32);
+            chunkyTriMesh = new RcChunkyTriMesh();
+            RcChunkyTriMeshs.CreateChunkyTriMesh(vertices, faces, faces.Length / 3, 32, chunkyTriMesh);
         }
 
         public int[] GetTris()
@@ -47,7 +48,7 @@ namespace DotRecast.Recast.Geom
 
         public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
         {
-            return chunkyTriMesh.GetChunksOverlappingRect(bmin, bmax);
+            return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
         }
     }
 }
\ No newline at end of file

From f54b586d7537561c2db08d0e3740a71508c9acc3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 17 Jun 2024 14:09:46 +0900
Subject: [PATCH 076/147] Serilog.Enrichers.Thread 4.0.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index d15a38c..88a807b 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -22,7 +22,7 @@
   <ItemGroup>
     <PackageReference Include="Serilog" Version="4.0.0" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.1" />
-    <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
+    <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
     <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>

From 59115105445aa0bd1fd240e1be170b9bb56ca02e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 17 Jun 2024 23:15:43 +0900
Subject: [PATCH 077/147] fix compile error

---
 src/DotRecast.Recast.Demo/Program.cs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/Program.cs b/src/DotRecast.Recast.Demo/Program.cs
index b2696b7..c0af359 100644
--- a/src/DotRecast.Recast.Demo/Program.cs
+++ b/src/DotRecast.Recast.Demo/Program.cs
@@ -1,4 +1,5 @@
 using System.IO;
+using System.Threading;
 using DotRecast.Core;
 using DotRecast.Recast.Demo.Logging.Sinks;
 using Serilog;
@@ -10,6 +11,8 @@ public static class Program
 {
     public static void Main(string[] args)
     {
+        Thread.CurrentThread.Name ??= "main";
+        
         InitializeWorkingDirectory();
         InitializeLogger();
         StartDemo();
@@ -22,7 +25,6 @@ public static class Program
             .MinimumLevel.Verbose()
             .Enrich.WithThreadId()
             .Enrich.WithThreadName()
-            .Enrich.WithProperty(ThreadNameEnricher.ThreadNamePropertyName, "main")
             .WriteTo.Async(c => c.LogMessageBroker(outputTemplate: format))
             .WriteTo.Async(c => c.Console(outputTemplate: format))
             .WriteTo.Async(c => c.File(

From 0092761742d6d58d692181654887c8fe8f42ac81 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 19 Jun 2024 13:46:04 +0900
Subject: [PATCH 078/147] Changed to consolidate vector-related functions into
 one place.

---
 CHANGELOG.md                              |  1 +
 src/DotRecast.Core/Numerics/RcVecUtils.cs | 48 +++++++++++++
 src/DotRecast.Recast/RcMeshDetails.cs     | 85 +++++------------------
 3 files changed, 68 insertions(+), 66 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b1972c0..ef41a5b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `heights`, `areas`, `cons`, and `regs` arrays to byte arrays for uniformity and efficiency in `DtTileCacheLayer`
 - Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
 - Changed `RcChunkyTriMesh` to separate the function and variable.
+- Changed to consolidate vector-related functions into one place.
   
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVecUtils.cs
index 68bdaec..9cdb5ed 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVecUtils.cs
@@ -36,6 +36,54 @@ namespace DotRecast.Core.Numerics
             }
         }
 
+        public static float Dot2(RcVec3f a, RcVec3f b)
+        {
+            return a.X * b.X + a.Z * b.Z;
+        }
+
+
+        public static float DistSq2(float[] verts, int p, int q)
+        {
+            float dx = verts[q + 0] - verts[p + 0];
+            float dy = verts[q + 2] - verts[p + 2];
+            return dx * dx + dy * dy;
+        }
+
+        public static float Dist2(float[] verts, int p, int q)
+        {
+            return MathF.Sqrt(DistSq2(verts, p, q));
+        }
+
+        public static float DistSq2(RcVec3f p, RcVec3f q)
+        {
+            float dx = q.X - p.X;
+            float dy = q.Z - p.Z;
+            return dx * dx + dy * dy;
+        }
+
+        public static float Dist2(RcVec3f p, RcVec3f q)
+        {
+            return MathF.Sqrt(DistSq2(p, q));
+        }
+
+        public static float Cross2(float[] verts, int p1, int p2, int p3)
+        {
+            float u1 = verts[p2 + 0] - verts[p1 + 0];
+            float v1 = verts[p2 + 2] - verts[p1 + 2];
+            float u2 = verts[p3 + 0] - verts[p1 + 0];
+            float v2 = verts[p3 + 2] - verts[p1 + 2];
+            return u1 * v2 - v1 * u2;
+        }
+
+        public static float Cross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
+        {
+            float u1 = p2.X - p1.X;
+            float v1 = p2.Z - p1.Z;
+            float u2 = p3.X - p1.X;
+            float v2 = p3.Z - p1.Z;
+            return u1 * v2 - v1 * u2;
+        }
+        
         /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
         /// @param[in] u A vector [(x, y, z)]
         /// @param[in] v A vector [(x, y, z)]
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index b637b3b..a12f1e4 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -27,60 +27,13 @@ using DotRecast.Core.Numerics;
 namespace DotRecast.Recast
 {
     using static RcRecast;
+    using static RcVecUtils;
     using static EdgeValues;
 
     public static class RcMeshDetails
     {
         public const int RC_UNSET_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
-        public static float Vdot2(RcVec3f a, RcVec3f b)
-        {
-            return a.X * b.X + a.Z * b.Z;
-        }
-
-
-        public static float VdistSq2(float[] verts, int p, int q)
-        {
-            float dx = verts[q + 0] - verts[p + 0];
-            float dy = verts[q + 2] - verts[p + 2];
-            return dx * dx + dy * dy;
-        }
-
-        public static float Vdist2(float[] verts, int p, int q)
-        {
-            return MathF.Sqrt(VdistSq2(verts, p, q));
-        }
-
-        public static float VdistSq2(RcVec3f p, RcVec3f q)
-        {
-            float dx = q.X - p.X;
-            float dy = q.Z - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-        public static float Vdist2(RcVec3f p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-        public static float Vcross2(float[] verts, int p1, int p2, int p3)
-        {
-            float u1 = verts[p2 + 0] - verts[p1 + 0];
-            float v1 = verts[p2 + 2] - verts[p1 + 2];
-            float u2 = verts[p3 + 0] - verts[p1 + 0];
-            float v2 = verts[p3 + 2] - verts[p1 + 2];
-            return u1 * v2 - v1 * u2;
-        }
-
-        public static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
-        {
-            float u1 = p2.X - p1.X;
-            float v1 = p2.Z - p1.Z;
-            float u2 = p3.X - p1.X;
-            float v2 = p3.Z - p1.Z;
-            return u1 * v2 - v1 * u2;
-        }
-
 
         public static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
         {
@@ -90,16 +43,16 @@ namespace DotRecast.Recast
             var v2 = p2 - p1;
             var v3 = p3 - p1;
 
-            float cp = Vcross2(v1, v2, v3);
+            float cp = Cross2(v1, v2, v3);
             if (MathF.Abs(cp) > EPS)
             {
-                float v1Sq = Vdot2(v1, v1);
-                float v2Sq = Vdot2(v2, v2);
-                float v3Sq = Vdot2(v3, v3);
+                float v1Sq = Dot2(v1, v1);
+                float v2Sq = Dot2(v2, v2);
+                float v3Sq = Dot2(v3, v3);
                 c.X = (v1Sq * (v2.Z - v3.Z) + v2Sq * (v3.Z - v1.Z) + v3Sq * (v1.Z - v2.Z)) / (2 * cp);
                 c.Y = 0;
                 c.Z = (v1Sq * (v3.X - v2.X) + v2Sq * (v1.X - v3.X) + v3Sq * (v2.X - v1.X)) / (2 * cp);
-                r = Vdist2(c, v1);
+                r = Dist2(c, v1);
                 c = c + p1;
                 return true;
             }
@@ -115,11 +68,11 @@ namespace DotRecast.Recast
             var v1 = b - a;
             var v2 = p - a;
 
-            float dot00 = Vdot2(v0, v0);
-            float dot01 = Vdot2(v0, v1);
-            float dot02 = Vdot2(v0, v2);
-            float dot11 = Vdot2(v1, v1);
-            float dot12 = Vdot2(v1, v2);
+            float dot00 = Dot2(v0, v0);
+            float dot01 = Dot2(v0, v1);
+            float dot02 = Dot2(v0, v2);
+            float dot11 = Dot2(v1, v1);
+            float dot12 = Dot2(v1, v2);
 
             // Compute barycentric coordinates
             float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
@@ -397,11 +350,11 @@ namespace DotRecast.Recast
 
         public static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
         {
-            float a1 = Vcross2(verts, a, b, d);
-            float a2 = Vcross2(verts, a, b, c);
+            float a1 = Cross2(verts, a, b, d);
+            float a2 = Cross2(verts, a, b, c);
             if (a1 * a2 < 0.0f)
             {
-                float a3 = Vcross2(verts, c, d, a);
+                float a3 = Cross2(verts, c, d, a);
                 float a4 = a3 + a2 - a1;
                 if (a3 * a4 < 0.0f)
                 {
@@ -472,7 +425,7 @@ namespace DotRecast.Recast
                 RcVec3f vt = RcVecUtils.Create(pts, t * 3);
                 RcVec3f vu = RcVecUtils.Create(pts, u * 3);
 
-                if (Vcross2(vs, vt, vu) > EPS)
+                if (Cross2(vs, vt, vu) > EPS)
                 {
                     if (r < 0)
                     {
@@ -482,7 +435,7 @@ namespace DotRecast.Recast
                         continue;
                     }
 
-                    float d = Vdist2(c, vu);
+                    float d = Dist2(c, vu);
                     float tol = 0.001f;
                     if (d > r * (1 + tol))
                     {
@@ -696,7 +649,7 @@ namespace DotRecast.Recast
                 int pv = hull[pi] * 3;
                 int cv = hull[i] * 3;
                 int nv = hull[ni] * 3;
-                float d = Vdist2(verts, pv, cv) + Vdist2(verts, cv, nv) + Vdist2(verts, nv, pv);
+                float d = Dist2(verts, pv, cv) + Dist2(verts, cv, nv) + Dist2(verts, nv, pv);
                 if (d < dmin)
                 {
                     start = i;
@@ -726,8 +679,8 @@ namespace DotRecast.Recast
                 int nvleft = hull[nleft] * 3;
                 int cvright = hull[right] * 3;
                 int nvright = hull[nright] * 3;
-                float dleft = Vdist2(verts, cvleft, nvleft) + Vdist2(verts, nvleft, cvright);
-                float dright = Vdist2(verts, cvright, nvright) + Vdist2(verts, cvleft, nvright);
+                float dleft = Dist2(verts, cvleft, nvleft) + Dist2(verts, nvleft, cvright);
+                float dright = Dist2(verts, cvright, nvright) + Dist2(verts, cvleft, nvright);
 
                 if (dleft < dright)
                 {

From 35ef64d9b4301ca668ded22b0ea2a92b7691894d Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 20 Jun 2024 23:52:33 +0900
Subject: [PATCH 079/147] reorder the member variables of DtTileCacheObstacle

---
 src/DotRecast.Detour.TileCache/DtTileCache.cs  | 18 +++++++++---------
 .../DtTileCacheObstacle.cs                     |  9 ++++++---
 .../DtTileCacheObstacleType.cs                 |  6 +++---
 3 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index 356d8e1..c9568af 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -348,7 +348,7 @@ namespace DotRecast.Detour.TileCache
         public long AddObstacle(RcVec3f pos, float radius, float height)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.CYLINDER;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER;
 
             ob.pos = pos;
             ob.radius = radius;
@@ -361,7 +361,7 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f bmin, RcVec3f bmax)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.BOX;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_BOX;
 
             ob.bmin = bmin;
             ob.bmax = bmax;
@@ -373,7 +373,7 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f center, RcVec3f extents, float yRadians)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.ORIENTED_BOX;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX;
             ob.center = center;
             ob.extents = extents;
             float coshalf = MathF.Cos(0.5f * yRadians);
@@ -612,15 +612,15 @@ namespace DotRecast.Detour.TileCache
 
                 if (Contains(ob.touched, refs))
                 {
-                    if (ob.type == DtTileCacheObstacleType.CYLINDER)
+                    if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
                     {
                         DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.BOX)
+                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
                     {
                         DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
+                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
                     {
                         DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
                     }
@@ -692,7 +692,7 @@ namespace DotRecast.Detour.TileCache
 
         public void GetObstacleBounds(DtTileCacheObstacle ob, ref RcVec3f bmin, ref RcVec3f bmax)
         {
-            if (ob.type == DtTileCacheObstacleType.CYLINDER)
+            if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
             {
                 bmin.X = ob.pos.X - ob.radius;
                 bmin.Y = ob.pos.Y;
@@ -701,12 +701,12 @@ namespace DotRecast.Detour.TileCache
                 bmax.Y = ob.pos.Y + ob.height;
                 bmax.Z = ob.pos.Z + ob.radius;
             }
-            else if (ob.type == DtTileCacheObstacleType.BOX)
+            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
             {
                 bmin = ob.bmin;
                 bmax = ob.bmax;
             }
-            else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
+            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
             {
                 float maxr = 1.41f * Math.Max(ob.extents.X, ob.extents.Z);
                 bmin.X = ob.center.X - maxr;
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
index ff79ef4..0458922 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
@@ -26,11 +26,13 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCacheObstacle
     {
         public readonly int index;
-        public DtTileCacheObstacleType type;
         public RcVec3f pos = new RcVec3f();
+        public float radius;
+        public float height;
+        
         public RcVec3f bmin = new RcVec3f();
         public RcVec3f bmax = new RcVec3f();
-        public float radius, height;
+        
         public RcVec3f center = new RcVec3f();
         public RcVec3f extents = new RcVec3f();
         public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 }
@@ -38,13 +40,14 @@ namespace DotRecast.Detour.TileCache
         public List<long> touched = new List<long>();
         public readonly List<long> pending = new List<long>();
         public int salt;
+        public DtTileCacheObstacleType type;
         public DtObstacleState state = DtObstacleState.DT_OBSTACLE_EMPTY;
         public DtTileCacheObstacle next;
 
         public DtTileCacheObstacle(int index)
         {
-            salt = 1;
             this.index = index;
+            salt = 1;
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs b/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
index 622ef00..3aa75f7 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
@@ -2,8 +2,8 @@
 {
     public enum DtTileCacheObstacleType
     {
-        CYLINDER,
-        BOX,
-        ORIENTED_BOX
+        DT_OBSTACLE_CYLINDER,
+        DT_OBSTACLE_BOX, // AABB
+        DT_OBSTACLE_ORIENTED_BOX // OBB
     };
 }
\ No newline at end of file

From 267e15fd4c7fc0bc4dddc0ef678c54c32f0261b2 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 21 Jun 2024 00:07:58 +0900
Subject: [PATCH 080/147] refactor DtTileCacheObstacle class

---
 .../DtObstacleBox.cs                          | 10 ++++
 .../DtObstacleCylinder.cs                     | 11 ++++
 .../DtObstacleOrientedBox.cs                  | 11 ++++
 src/DotRecast.Detour.TileCache/DtTileCache.cs | 54 +++++++++----------
 .../DtTileCacheObstacle.cs                    | 17 ++----
 5 files changed, 64 insertions(+), 39 deletions(-)
 create mode 100644 src/DotRecast.Detour.TileCache/DtObstacleBox.cs
 create mode 100644 src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
 create mode 100644 src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs

diff --git a/src/DotRecast.Detour.TileCache/DtObstacleBox.cs b/src/DotRecast.Detour.TileCache/DtObstacleBox.cs
new file mode 100644
index 0000000..eda300f
--- /dev/null
+++ b/src/DotRecast.Detour.TileCache/DtObstacleBox.cs
@@ -0,0 +1,10 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleBox
+    {
+        public RcVec3f bmin;
+        public RcVec3f bmax;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs b/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
new file mode 100644
index 0000000..cd0202c
--- /dev/null
+++ b/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
@@ -0,0 +1,11 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleCylinder
+    {
+        public RcVec3f pos;
+        public float radius;
+        public float height;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs b/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs
new file mode 100644
index 0000000..05bbc59
--- /dev/null
+++ b/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs
@@ -0,0 +1,11 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleOrientedBox
+    {
+        public RcVec3f center;
+        public RcVec3f extents;
+        public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 } 
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index c9568af..504247f 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -350,9 +350,9 @@ namespace DotRecast.Detour.TileCache
             DtTileCacheObstacle ob = AllocObstacle();
             ob.type = DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER;
 
-            ob.pos = pos;
-            ob.radius = radius;
-            ob.height = height;
+            ob.cylinder.pos = pos;
+            ob.cylinder.radius = radius;
+            ob.cylinder.height = height;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -363,8 +363,8 @@ namespace DotRecast.Detour.TileCache
             DtTileCacheObstacle ob = AllocObstacle();
             ob.type = DtTileCacheObstacleType.DT_OBSTACLE_BOX;
 
-            ob.bmin = bmin;
-            ob.bmax = bmax;
+            ob.box.bmin = bmin;
+            ob.box.bmax = bmax;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -374,12 +374,12 @@ namespace DotRecast.Detour.TileCache
         {
             DtTileCacheObstacle ob = AllocObstacle();
             ob.type = DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX;
-            ob.center = center;
-            ob.extents = extents;
+            ob.orientedBox.center = center;
+            ob.orientedBox.extents = extents;
             float coshalf = MathF.Cos(0.5f * yRadians);
             float sinhalf = MathF.Sin(-0.5f * yRadians);
-            ob.rotAux[0] = coshalf * sinhalf;
-            ob.rotAux[1] = coshalf * coshalf - 0.5f;
+            ob.orientedBox.rotAux[0] = coshalf * sinhalf;
+            ob.orientedBox.rotAux[1] = coshalf * coshalf - 0.5f;
             return AddObstacleRequest(ob).refs;
         }
 
@@ -614,15 +614,15 @@ namespace DotRecast.Detour.TileCache
                 {
                     if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
                     {
-                        DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
+                        DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.cylinder.pos, ob.cylinder.radius, ob.cylinder.height, 0);
                     }
                     else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
                     {
-                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.box.bmin, ob.box.bmax, 0);
                     }
                     else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
                     {
-                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.orientedBox.center, ob.orientedBox.extents, ob.orientedBox.rotAux, 0);
                     }
                 }
             }
@@ -694,27 +694,27 @@ namespace DotRecast.Detour.TileCache
         {
             if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
             {
-                bmin.X = ob.pos.X - ob.radius;
-                bmin.Y = ob.pos.Y;
-                bmin.Z = ob.pos.Z - ob.radius;
-                bmax.X = ob.pos.X + ob.radius;
-                bmax.Y = ob.pos.Y + ob.height;
-                bmax.Z = ob.pos.Z + ob.radius;
+                bmin.X = ob.cylinder.pos.X - ob.cylinder.radius;
+                bmin.Y = ob.cylinder.pos.Y;
+                bmin.Z = ob.cylinder.pos.Z - ob.cylinder.radius;
+                bmax.X = ob.cylinder.pos.X + ob.cylinder.radius;
+                bmax.Y = ob.cylinder.pos.Y + ob.cylinder.height;
+                bmax.Z = ob.cylinder.pos.Z + ob.cylinder.radius;
             }
             else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
             {
-                bmin = ob.bmin;
-                bmax = ob.bmax;
+                bmin = ob.box.bmin;
+                bmax = ob.box.bmax;
             }
             else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
             {
-                float maxr = 1.41f * Math.Max(ob.extents.X, ob.extents.Z);
-                bmin.X = ob.center.X - maxr;
-                bmax.X = ob.center.X + maxr;
-                bmin.Y = ob.center.Y - ob.extents.Y;
-                bmax.Y = ob.center.Y + ob.extents.Y;
-                bmin.Z = ob.center.Z - maxr;
-                bmax.Z = ob.center.Z + maxr;
+                float maxr = 1.41f * Math.Max(ob.orientedBox.extents.X, ob.orientedBox.extents.Z);
+                bmin.X = ob.orientedBox.center.X - maxr;
+                bmax.X = ob.orientedBox.center.X + maxr;
+                bmin.Y = ob.orientedBox.center.Y - ob.orientedBox.extents.Y;
+                bmax.Y = ob.orientedBox.center.Y + ob.orientedBox.extents.Y;
+                bmin.Z = ob.orientedBox.center.Z - maxr;
+                bmax.Z = ob.orientedBox.center.Z + maxr;
             }
         }
 
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
index 0458922..fdaaf62 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs
@@ -19,24 +19,17 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
     public class DtTileCacheObstacle
     {
         public readonly int index;
-        public RcVec3f pos = new RcVec3f();
-        public float radius;
-        public float height;
-        
-        public RcVec3f bmin = new RcVec3f();
-        public RcVec3f bmax = new RcVec3f();
-        
-        public RcVec3f center = new RcVec3f();
-        public RcVec3f extents = new RcVec3f();
-        public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 }
-        
+
+        public DtObstacleCylinder cylinder = new DtObstacleCylinder();
+        public DtObstacleBox box = new DtObstacleBox();
+        public DtObstacleOrientedBox orientedBox = new DtObstacleOrientedBox();
+
         public List<long> touched = new List<long>();
         public readonly List<long> pending = new List<long>();
         public int salt;

From 72b7cfd6db4890729c4c14881823419858dd971a Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 24 Jun 2024 22:36:05 +0900
Subject: [PATCH 081/147] update Serilog.Sinks.File 6.0.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 88a807b..d111268 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -25,7 +25,7 @@
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
-    <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
+    <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     <PackageReference Include="Silk.NET" Version="2.21.0" />
     <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.21.0" />

From e5d5867c5661d33de0c53135f4aaa43b4187f112 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 25 Jun 2024 00:02:59 +0900
Subject: [PATCH 082/147] rename RcVecUtils to RcVec

---
 .../Numerics/{RcVecUtils.cs => RcVec.cs}      | 30 ++++++++++++-
 src/DotRecast.Detour.Crowd/DtCrowd.cs         | 10 ++---
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs    |  6 +--
 .../DtObstacleAvoidanceQuery.cs               | 10 ++---
 src/DotRecast.Detour.Crowd/DtPathCorridor.cs  |  6 +--
 src/DotRecast.Detour.Extras/BVTreeBuilder.cs  |  8 ++--
 .../Jumplink/AbstractGroundSampler.cs         |  2 +-
 .../Jumplink/JumpLinkBuilder.cs               |  2 +-
 .../Jumplink/TrajectorySampler.cs             |  2 +-
 .../DtConvexConvexIntersections.cs            |  8 ++--
 src/DotRecast.Detour/DtNavMesh.cs             | 12 +++---
 src/DotRecast.Detour/DtNavMeshBuilder.cs      | 14 +++----
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 42 +++++++++----------
 .../DtStrictDtPolygonByCircleConstraint.cs    |  2 +-
 src/DotRecast.Detour/DtUtils.cs               | 37 ++++------------
 .../Tools/CrowdSampleTool.cs                  |  2 +-
 .../Tools/GizmoRenderer.cs                    |  6 +--
 .../Tools/TestNavmeshSampleTool.cs            |  4 +-
 .../Geom/DemoInputGeomProvider.cs             | 10 ++---
 .../Tools/RcJumpLinkBuilderTool.cs            |  2 +-
 .../Tools/RcOffMeshConnectionTool.cs          |  2 +-
 .../Tools/RcTestNavMeshTool.cs                |  2 +-
 .../Geom/SimpleInputGeomProvider.cs           |  4 +-
 src/DotRecast.Recast/RcAreas.cs               | 16 +++----
 .../RcFilledVolumeRasterization.cs            |  2 +-
 src/DotRecast.Recast/RcMeshDetails.cs         | 26 ++++++------
 src/DotRecast.Recast/RcRasterizations.cs      | 28 ++++++-------
 src/DotRecast.Recast/RcRecast.cs              | 12 +++---
 .../NavMeshBuilderTest.cs                     |  2 +-
 test/DotRecast.Detour.Test/RandomPointTest.cs |  2 +-
 30 files changed, 158 insertions(+), 153 deletions(-)
 rename src/DotRecast.Core/Numerics/{RcVecUtils.cs => RcVec.cs} (86%)

diff --git a/src/DotRecast.Core/Numerics/RcVecUtils.cs b/src/DotRecast.Core/Numerics/RcVec.cs
similarity index 86%
rename from src/DotRecast.Core/Numerics/RcVecUtils.cs
rename to src/DotRecast.Core/Numerics/RcVec.cs
index 9cdb5ed..6753661 100644
--- a/src/DotRecast.Core/Numerics/RcVecUtils.cs
+++ b/src/DotRecast.Core/Numerics/RcVec.cs
@@ -3,9 +3,10 @@ using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics
 {
-    public static class RcVecUtils
+    public static class RcVec
     {
         public const float EPSILON = 1e-6f;
+        private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcVec3f Create(Span<float> values, int n)
@@ -36,12 +37,28 @@ namespace DotRecast.Core.Numerics
             }
         }
 
+        /// Performs a 'sloppy' colocation check of the specified points.
+        /// @param[in] p0 A point. [(x, y, z)]
+        /// @param[in] p1 A point. [(x, y, z)]
+        /// @return True if the points are considered to be at the same location.
+        ///
+        /// Basically, this function will return true if the specified points are
+        /// close enough to eachother to be considered colocated.
+        public static bool Equal(RcVec3f p0, RcVec3f p1)
+        {
+            float d = RcVec3f.DistanceSquared(p0, p1);
+            return d < EQUAL_THRESHOLD;
+        }
+
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Dot2(RcVec3f a, RcVec3f b)
         {
             return a.X * b.X + a.Z * b.Z;
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float DistSq2(float[] verts, int p, int q)
         {
             float dx = verts[q + 0] - verts[p + 0];
@@ -49,11 +66,13 @@ namespace DotRecast.Core.Numerics
             return dx * dx + dy * dy;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Dist2(float[] verts, int p, int q)
         {
             return MathF.Sqrt(DistSq2(verts, p, q));
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float DistSq2(RcVec3f p, RcVec3f q)
         {
             float dx = q.X - p.X;
@@ -61,11 +80,13 @@ namespace DotRecast.Core.Numerics
             return dx * dx + dy * dy;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Dist2(RcVec3f p, RcVec3f q)
         {
             return MathF.Sqrt(DistSq2(p, q));
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Cross2(float[] verts, int p1, int p2, int p3)
         {
             float u1 = verts[p2 + 0] - verts[p1 + 0];
@@ -75,6 +96,7 @@ namespace DotRecast.Core.Numerics
             return u1 * v2 - v1 * u2;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Cross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
         {
             float u1 = p2.X - p1.X;
@@ -83,7 +105,7 @@ namespace DotRecast.Core.Numerics
             float v2 = p3.Z - p1.Z;
             return u1 * v2 - v1 * u2;
         }
-        
+
         /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
         /// @param[in] u A vector [(x, y, z)]
         /// @param[in] v A vector [(x, y, z)]
@@ -162,6 +184,10 @@ namespace DotRecast.Core.Numerics
             return (float)MathF.Sqrt(dx * dx + dz * dz);
         }
 
+        /// Derives the square of the distance between the specified points on the xz-plane.
+        ///  @param[in]		v1	A point. [(x, y, z)]
+        ///  @param[in]		v2	A point. [(x, y, z)]
+        /// @return The square of the distance between the point on the xz-plane.
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Dist2DSqr(RcVec3f v1, RcVec3f v2)
         {
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 94395ac..e8d83c1 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -875,7 +875,7 @@ namespace DotRecast.Detour.Crowd
                 // Update the collision boundary after certain distance has been passed or
                 // if it has become invalid.
                 float updateThr = ag.option.collisionQueryRange * 0.25f;
-                if (RcVecUtils.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
+                if (RcVec.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
                     || !ag.boundary.IsValid(_navQuery, _filters[ag.option.queryFilterType]))
                 {
                     ag.boundary.Update(ag.corridor.GetFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
@@ -1007,7 +1007,7 @@ namespace DotRecast.Detour.Crowd
                         anim.polyRef = refs[1];
                         anim.active = true;
                         anim.t = 0.0f;
-                        anim.tmax = (RcVecUtils.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
+                        anim.tmax = (RcVec.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
                         ag.ncorners = 0;
@@ -1097,14 +1097,14 @@ namespace DotRecast.Detour.Crowd
                         float dist = MathF.Sqrt(distSqr);
                         float weight = separationWeight * (1.0f - RcMath.Sqr(dist * invSeparationDist));
 
-                        disp = RcVecUtils.Mad(disp, diff, weight / dist);
+                        disp = RcVec.Mad(disp, diff, weight / dist);
                         w += 1.0f;
                     }
 
                     if (w > 0.0001f)
                     {
                         // Adjust desired velocity.
-                        dvel = RcVecUtils.Mad(dvel, disp, 1.0f / w);
+                        dvel = RcVec.Mad(dvel, disp, 1.0f / w);
                         // Clamp desired velocity to desired speed.
                         float speedSqr = dvel.LengthSquared();
                         float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
@@ -1260,7 +1260,7 @@ namespace DotRecast.Detour.Crowd
                             pen = (1.0f / dist) * (pen * 0.5f) * _config.collisionResolveFactor;
                         }
 
-                        ag.disp = RcVecUtils.Mad(ag.disp, diff, pen);
+                        ag.disp = RcVec.Mad(ag.disp, diff, pen);
 
                         w += 1.0f;
                     }
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index c186fed..efb465b 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -96,7 +96,7 @@ namespace DotRecast.Detour.Crowd
 
             // Integrate
             if (vel.Length() > 0.0001f)
-                npos = RcVecUtils.Mad(npos, vel, dt);
+                npos = RcVec.Mad(npos, vel, dt);
             else
                 vel = RcVec3f.Zero;
         }
@@ -112,7 +112,7 @@ namespace DotRecast.Detour.Crowd
                 : false;
             if (offMeshConnection)
             {
-                float distSq = RcVecUtils.Dist2DSqr(npos, corners[ncorners - 1].pos);
+                float distSq = RcVec.Dist2DSqr(npos, corners[ncorners - 1].pos);
                 if (distSq < radius * radius)
                     return true;
             }
@@ -127,7 +127,7 @@ namespace DotRecast.Detour.Crowd
 
             bool endOfPath = ((corners[ncorners - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
             if (endOfPath)
-                return Math.Min(RcVecUtils.Dist2D(npos, corners[ncorners - 1].pos), range);
+                return Math.Min(RcVec.Dist2D(npos, corners[ncorners - 1].pos), range);
 
             return range;
         }
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
index 2aabd8d..2203118 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
@@ -186,16 +186,16 @@ namespace DotRecast.Detour.Crowd
         {
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVecUtils.Perp2D(u, v);
+            float d = RcVec.Perp2D(u, v);
             if (MathF.Abs(d) < 1e-6f)
                 return false;
 
             d = 1.0f / d;
-            t = RcVecUtils.Perp2D(v, w) * d;
+            t = RcVec.Perp2D(v, w) * d;
             if (t < 0 || t > 1)
                 return false;
 
-            float s = RcVecUtils.Perp2D(u, w) * d;
+            float s = RcVec.Perp2D(u, w) * d;
             if (s < 0 || s > 1)
                 return false;
 
@@ -216,8 +216,8 @@ namespace DotRecast.Detour.Crowd
             float minPenalty, DtObstacleAvoidanceDebugData debug)
         {
             // penalty for straying away from the desired and current velocities
-            float vpen = m_params.weightDesVel * (RcVecUtils.Dist2D(vcand, dvel) * m_invVmax);
-            float vcpen = m_params.weightCurVel * (RcVecUtils.Dist2D(vcand, vel) * m_invVmax);
+            float vpen = m_params.weightDesVel * (RcVec.Dist2D(vcand, dvel) * m_invVmax);
+            float vcpen = m_params.weightCurVel * (RcVec.Dist2D(vcand, vel) * m_invVmax);
 
             // find the threshold hit time to bail out based on the early out penalty
             // (see how the penalty is calculated below to understand)
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 5a01d3c..37787ae 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -144,7 +144,7 @@ namespace DotRecast.Detour.Crowd
             while (0 < ncorners)
             {
                 if ((corners[0].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
-                    RcVecUtils.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
+                    RcVec.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                 {
                     break;
                 }
@@ -197,7 +197,7 @@ namespace DotRecast.Detour.Crowd
         public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Clamp the ray to max distance.
-            float dist = RcVecUtils.Dist2D(m_pos, next);
+            float dist = RcVec.Dist2D(m_pos, next);
 
             // If too close to the goal, do not try to optimize.
             if (dist < 0.01f)
@@ -210,7 +210,7 @@ namespace DotRecast.Detour.Crowd
 
             // Adjust ray length.
             var delta = RcVec3f.Subtract(next, m_pos);
-            RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
+            RcVec3f goal = RcVec.Mad(m_pos, delta, pathOptimizationRange / dist);
 
             var res = new List<long>();
             var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, ref res);
diff --git a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
index e31200f..577effd 100644
--- a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
+++ b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
@@ -40,12 +40,12 @@ namespace DotRecast.Detour.Extras
                 BVItem it = new BVItem();
                 items[i] = it;
                 it.i = i;
-                RcVec3f bmin = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
-                RcVec3f bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmin = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmax = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
                 for (int j = 1; j < data.polys[i].vertCount; j++)
                 {
-                    bmin = RcVec3f.Min(bmin, RcVecUtils.Create(data.verts, data.polys[i].verts[j] * 3));
-                    bmax = RcVec3f.Max(bmax, RcVecUtils.Create(data.verts, data.polys[i].verts[j] * 3));
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
                 }
 
                 it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
diff --git a/src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
index 8efafd2..375fa75 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/AbstractGroundSampler.cs
@@ -11,7 +11,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, ComputeNavMeshHeight heightFunc)
         {
             float cs = acfg.cellSize;
-            float dist = MathF.Sqrt(RcVecUtils.Dist2DSqr(es.start.p, es.start.q));
+            float dist = MathF.Sqrt(RcVec.Dist2DSqr(es.start.p, es.start.q));
             int ngsamples = Math.Max(2, (int)MathF.Ceiling(dist / cs));
 
             SampleGroundSegment(heightFunc, es.start, ngsamples);
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs
index 8550fa6..8382908 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Extras.Jumplink
                 GroundSegment end = es.end[js.groundSegment];
                 RcVec3f ep = end.gsamples[js.startSample].p;
                 RcVec3f eq = end.gsamples[js.startSample + js.samples - 1].p;
-                float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.Dist2DSqr(ep, eq));
+                float d = Math.Min(RcVec.Dist2DSqr(sp, sq), RcVec.Dist2DSqr(ep, eq));
                 if (d >= 4 * acfg.agentRadius * acfg.agentRadius)
                 {
                     JumpLink link = new JumpLink();
diff --git a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
index 7d3dcad..9ddd7ee 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
@@ -35,7 +35,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, ITrajectory tra)
         {
             float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
-            float d = RcVecUtils.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
+            float d = RcVec.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
             int nsamples = Math.Max(2, (int)MathF.Ceiling(d / cs));
             for (int i = 0; i < nsamples; ++i)
             {
diff --git a/src/DotRecast.Detour/DtConvexConvexIntersections.cs b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
index 28aa04e..f66fa61 100644
--- a/src/DotRecast.Detour/DtConvexConvexIntersections.cs
+++ b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
@@ -54,10 +54,10 @@ namespace DotRecast.Detour
 
             do
             {
-                a = RcVecUtils.Create(p, 3 * (ai % n));
-                b = RcVecUtils.Create(q, 3 * (bi % m));
-                a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a
-                b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b
+                a = RcVec.Create(p, 3 * (ai % n));
+                b = RcVec.Create(q, 3 * (bi % m));
+                a1 = RcVec.Create(p, 3 * ((ai + n - 1) % n)); // prev a
+                b1 = RcVec.Create(q, 3 * ((bi + m - 1) % m)); // prev b
 
                 RcVec3f A = RcVec3f.Subtract(a, a1);
                 RcVec3f B = RcVec3f.Subtract(b, b1);
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index b6aac0c..0960267 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -319,13 +319,13 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin = RcVecUtils.Create(tile.data.verts, v);
-                    bmax = RcVecUtils.Create(tile.data.verts, v);
+                    bmin = RcVec.Create(tile.data.verts, v);
+                    bmax = RcVec.Create(tile.data.verts, v);
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(tile.data.verts, v));
-                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(tile.data.verts, v));
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(tile.data.verts, v));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(tile.data.verts, v));
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
@@ -1489,8 +1489,8 @@ namespace DotRecast.Detour
                 }
             }
 
-            startPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx0] * 3);
-            endPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx1] * 3);
+            startPos = RcVec.Create(tile.data.verts, poly.verts[idx0] * 3);
+            endPos = RcVec.Create(tile.data.verts, poly.verts[idx1] * 3);
 
             return DtStatus.DT_SUCCESS;
         }
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index ba6b452..bb9a276 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -164,12 +164,12 @@ namespace DotRecast.Detour
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int dv = vb * 3;
-                    var bmin = RcVecUtils.Create(option.detailVerts, dv);
-                    var bmax = RcVecUtils.Create(option.detailVerts, dv);
+                    var bmin = RcVec.Create(option.detailVerts, dv);
+                    var bmax = RcVec.Create(option.detailVerts, dv);
                     for (int j = 1; j < ndv; j++)
                     {
-                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(option.detailVerts, dv + j * 3));
-                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(option.detailVerts, dv + j * 3));
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(option.detailVerts, dv + j * 3));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(option.detailVerts, dv + j * 3));
                     }
 
                     // BV-tree uses cs for all dimensions
@@ -322,8 +322,8 @@ namespace DotRecast.Detour
 
                 for (int i = 0; i < option.offMeshConCount; ++i)
                 {
-                    var p0 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
-                    var p1 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
+                    var p0 = RcVec.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
+                    var p1 = RcVec.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
 
                     offMeshConClass[i * 2 + 0] = ClassifyOffMeshPoint(p0, bmin, bmax);
                     offMeshConClass[i * 2 + 1] = ClassifyOffMeshPoint(p1, bmin, bmax);
@@ -624,7 +624,7 @@ namespace DotRecast.Detour
                     int endPts = i * 2 * 3;
                     for (int j = 0; j < 2; ++j)
                     {
-                        con.pos[j] = RcVecUtils.Create(option.offMeshConVerts, endPts + (j * 3));
+                        con.pos[j] = RcVec.Create(option.offMeshConVerts, endPts + (j * 3));
                     }
 
                     con.rad = option.offMeshConRad[i];
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 2978f9a..1742472 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -487,7 +487,7 @@ namespace DotRecast.Detour
 
                 int va = imin * 3;
                 int vb = ((imin + 1) % nv) * 3;
-                closest = RcVecUtils.Lerp(verts, va, vb, edget[imin]);
+                closest = RcVec.Lerp(verts, va, vb, edget[imin]);
             }
 
             return DtStatus.DT_SUCCESS;
@@ -670,13 +670,13 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin = RcVecUtils.Create(tile.data.verts, v);
-                    bmax = RcVecUtils.Create(tile.data.verts, v);
+                    bmin = RcVec.Create(tile.data.verts, v);
+                    bmax = RcVec.Create(tile.data.verts, v);
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVec3f.Min(bmin, RcVecUtils.Create(tile.data.verts, v));
-                        bmax = RcVec3f.Max(bmax, RcVecUtils.Create(tile.data.verts, v));
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(tile.data.verts, v));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(tile.data.verts, v));
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
@@ -1479,7 +1479,7 @@ namespace DotRecast.Detour
 
         protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, Span<DtStraightPath> straightPath, ref int straightPathCount, int maxStraightPath)
         {
-            if (straightPathCount > 0 && DtUtils.VEqual(straightPath[straightPathCount - 1].pos, pos))
+            if (straightPathCount > 0 && RcVec.Equal(straightPath[straightPathCount - 1].pos, pos))
             {
                 // The vertices are equal, update flags and poly.
                 straightPath[straightPathCount - 1] = new DtStraightPath(straightPath[straightPathCount - 1].pos, flags, refs);
@@ -1693,7 +1693,7 @@ namespace DotRecast.Detour
                     // Right vertex.
                     if (DtUtils.TriArea2D(portalApex, portalRight, right) <= 0.0f)
                     {
-                        if (DtUtils.VEqual(portalApex, portalRight) || DtUtils.TriArea2D(portalApex, portalLeft, right) > 0.0f)
+                        if (RcVec.Equal(portalApex, portalRight) || DtUtils.TriArea2D(portalApex, portalLeft, right) > 0.0f)
                         {
                             portalRight = right;
                             rightPolyRef = (i + 1 < pathSize) ? path[i + 1] : 0;
@@ -1749,7 +1749,7 @@ namespace DotRecast.Detour
                     // Left vertex.
                     if (DtUtils.TriArea2D(portalApex, portalLeft, left) >= 0.0f)
                     {
-                        if (DtUtils.VEqual(portalApex, portalLeft) || DtUtils.TriArea2D(portalApex, portalRight, left) < 0.0f)
+                        if (RcVec.Equal(portalApex, portalLeft) || DtUtils.TriArea2D(portalApex, portalRight, left) < 0.0f)
                         {
                             portalLeft = left;
                             leftPolyRef = (i + 1 < pathSize) ? path[i + 1] : 0;
@@ -1965,7 +1965,7 @@ namespace DotRecast.Detour
                         if (distSqr < bestDist)
                         {
                             // Update nearest distance.
-                            bestPos = RcVecUtils.Lerp(verts, vj, vi, tseg);
+                            bestPos = RcVec.Lerp(verts, vj, vi, tseg);
                             bestDist = distSqr;
                             bestNode = curNode;
                         }
@@ -2153,8 +2153,8 @@ namespace DotRecast.Detour
                     float s = 1.0f / 255.0f;
                     float tmin = link.bmin * s;
                     float tmax = link.bmax * s;
-                    left = RcVecUtils.Lerp(fromTile.data.verts, v0 * 3, v1 * 3, tmin);
-                    right = RcVecUtils.Lerp(fromTile.data.verts, v0 * 3, v1 * 3, tmax);
+                    left = RcVec.Lerp(fromTile.data.verts, v0 * 3, v1 * 3, tmin);
+                    right = RcVec.Lerp(fromTile.data.verts, v0 * 3, v1 * 3, tmax);
                 }
             }
 
@@ -2345,7 +2345,7 @@ namespace DotRecast.Detour
                 int nv = 0;
                 for (int i = 0; i < poly.vertCount; ++i)
                 {
-                    verts[nv] = RcVecUtils.Create(tile.data.verts, poly.verts[i] * 3);
+                    verts[nv] = RcVec.Create(tile.data.verts, poly.verts[i] * 3);
                     nv++;
                 }
 
@@ -2483,7 +2483,7 @@ namespace DotRecast.Detour
                     // compute the intersection point at the furthest end of the polygon
                     // and correct the height (since the raycast moves in 2d)
                     lastPos = curPos;
-                    curPos = RcVecUtils.Mad(startPos, dir, hit.t);
+                    curPos = RcVec.Mad(startPos, dir, hit.t);
                     var e1 = verts[segMax];
                     var e2 = verts[(segMax + 1) % nv];
                     var eDir = RcVec3f.Subtract(e2, e1);
@@ -3174,8 +3174,8 @@ namespace DotRecast.Detour
                     int ivj = poly.verts[j] * 3;
                     int ivi = poly.verts[i] * 3;
                     var seg = new RcSegmentVert();
-                    seg.vmin = RcVecUtils.Create(tile.data.verts, ivj);
-                    seg.vmax = RcVecUtils.Create(tile.data.verts, ivi);
+                    seg.vmin = RcVec.Create(tile.data.verts, ivj);
+                    seg.vmax = RcVec.Create(tile.data.verts, ivi);
                     // RcArrays.Copy(tile.data.verts, ivj, seg, 0, 3);
                     // RcArrays.Copy(tile.data.verts, ivi, seg, 3, 3);
                     segmentVerts.Add(seg);
@@ -3198,8 +3198,8 @@ namespace DotRecast.Detour
                         float tmin = ints[k].tmin / 255.0f;
                         float tmax = ints[k].tmax / 255.0f;
                         var seg = new RcSegmentVert();
-                        seg.vmin = RcVecUtils.Lerp(tile.data.verts, vj, vi, tmin);
-                        seg.vmax = RcVecUtils.Lerp(tile.data.verts, vj, vi, tmax);
+                        seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
+                        seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
                         segmentVerts.Add(seg);
                         segmentRefs.Add(ints[k].refs);
                     }
@@ -3212,8 +3212,8 @@ namespace DotRecast.Detour
                         float tmin = imin / 255.0f;
                         float tmax = imax / 255.0f;
                         var seg = new RcSegmentVert();
-                        seg.vmin = RcVecUtils.Lerp(tile.data.verts, vj, vi, tmin);
-                        seg.vmax = RcVecUtils.Lerp(tile.data.verts, vj, vi, tmax);
+                        seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
+                        seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
                         segmentVerts.Add(seg);
                         segmentRefs.Add(0L);
                     }
@@ -3355,8 +3355,8 @@ namespace DotRecast.Detour
                     hitPos.Y = bestTile.data.verts[vj + 1] + (bestTile.data.verts[vi + 1] - bestTile.data.verts[vj + 1]) * tseg;
                     hitPos.Z = bestTile.data.verts[vj + 2] + (bestTile.data.verts[vi + 2] - bestTile.data.verts[vj + 2]) * tseg;
                     hasBestV = true;
-                    bestvj = RcVecUtils.Create(bestTile.data.verts, vj);
-                    bestvi = RcVecUtils.Create(bestTile.data.verts, vi);
+                    bestvj = RcVec.Create(bestTile.data.verts, vj);
+                    bestvi = RcVec.Create(bestTile.data.verts, vi);
                 }
 
                 for (int i = bestPoly.firstLink; i != DT_NULL_LINK; i = bestTile.links[i].next)
diff --git a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
index bf5266a..1c78b6e 100644
--- a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
@@ -37,7 +37,7 @@ namespace DotRecast.Detour
             int outsideVertex = -1;
             for (int pv = 0; pv < verts.Length; pv += 3)
             {
-                if (RcVecUtils.Dist2DSqr(center, verts, pv) > radiusSqr)
+                if (RcVec.Dist2DSqr(center, verts, pv) > radiusSqr)
                 {
                     outsideVertex = pv;
                     break;
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 5f93ea5..1e74375 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -1,13 +1,10 @@
 using System;
-using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
     public static class DtUtils
     {
-        private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
-
         public static int NextPow2(int v)
         {
             v--;
@@ -39,24 +36,6 @@ namespace DotRecast.Detour
             return r;
         }
 
-        /// Performs a 'sloppy' colocation check of the specified points.
-        /// @param[in] p0 A point. [(x, y, z)]
-        /// @param[in] p1 A point. [(x, y, z)]
-        /// @return True if the points are considered to be at the same location.
-        ///
-        /// Basically, this function will return true if the specified points are
-        /// close enough to eachother to be considered colocated.
-        public static bool VEqual(RcVec3f p0, RcVec3f p1)
-        {
-            return VEqual(p0, p1, EQUAL_THRESHOLD);
-        }
-
-        public static bool VEqual(RcVec3f p0, RcVec3f p1, float thresholdSqr)
-        {
-            float d = RcVec3f.DistanceSquared(p0, p1);
-            return d < thresholdSqr;
-        }
-
         /// Determines if two axis-aligned bounding boxes overlap.
         /// @param[in] amin Minimum bounds of box A. [(x, y, z)]
         /// @param[in] amax Maximum bounds of box A. [(x, y, z)]
@@ -252,7 +231,7 @@ namespace DotRecast.Detour
             rmin = rmax = axis.Dot2D(new RcVec3f(poly));
             for (int i = 1; i < npoly; ++i)
             {
-                float d = axis.Dot2D(RcVecUtils.Create(poly, i * 3));
+                float d = axis.Dot2D(RcVec.Create(poly, i * 3));
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }
@@ -309,8 +288,8 @@ namespace DotRecast.Detour
 
         public static float DistancePtSegSqr2D(RcVec3f pt, Span<float> verts, int p, int q, out float t)
         {
-            var vp = RcVecUtils.Create(verts, p);
-            var vq = RcVecUtils.Create(verts, q);
+            var vp = RcVec.Create(verts, p);
+            var vq = RcVec.Create(verts, q);
             return DistancePtSegSqr2D(pt, vp, vq, out t);
         }
 
@@ -362,8 +341,8 @@ namespace DotRecast.Detour
                 RcVec3f vpi = verts[i];
                 var edge = RcVec3f.Subtract(vpi, vpj);
                 var diff = RcVec3f.Subtract(p0v, vpj);
-                float n = RcVecUtils.Perp2D(edge, diff);
-                float d = RcVecUtils.Perp2D(dir, edge);
+                float n = RcVec.Perp2D(edge, diff);
+                float d = RcVec.Perp2D(dir, edge);
                 if (MathF.Abs(d) < EPS)
                 {
                     // S is nearly parallel to this edge
@@ -425,14 +404,14 @@ namespace DotRecast.Detour
             RcVec3f u = RcVec3f.Subtract(aq, ap);
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVecUtils.PerpXZ(u, v);
+            float d = RcVec.PerpXZ(u, v);
             if (MathF.Abs(d) < 1e-6f)
             {
                 return false;
             }
 
-            s = RcVecUtils.PerpXZ(v, w) / d;
-            t = RcVecUtils.PerpXZ(u, w) / d;
+            s = RcVec.PerpXZ(v, w) / d;
+            t = RcVec.PerpXZ(u, w) / d;
 
             return true;
         }
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
index eb67223..917e95f 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
@@ -234,7 +234,7 @@ public class CrowdSampleTool : ISampleTool
                 dd.Vertex(prev.X, prev.Y + 0.1f, prev.Z, 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)));
                 preva = a;
-                prev = RcVecUtils.Create(trail.trail, v);
+                prev = RcVec.Create(trail.trail, v);
             }
 
             dd.End();
diff --git a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
index 987a081..993b50b 100644
--- a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
@@ -155,9 +155,9 @@ public static class GizmoRenderer
         debugDraw.Begin(DebugDrawPrimitives.TRIS);
         for (int i = 0; i < trimesh.triangles.Length; i += 3)
         {
-            RcVec3f v0 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i]);
-            RcVec3f v1 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i + 1]);
-            RcVec3f v2 = RcVecUtils.Create(trimesh.vertices, 3 * trimesh.triangles[i + 2]);
+            RcVec3f v0 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i]);
+            RcVec3f v1 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 1]);
+            RcVec3f v2 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 2]);
             int col = GetColorByNormal(v0, v1, v2);
             debugDraw.Vertex(v0.X, v0.Y, v0.Z, col);
             debugDraw.Vertex(v1.X, v1.Y, v1.Z, col);
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
index 917bdb7..5d78eda 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
@@ -511,10 +511,10 @@ public class TestNavmeshSampleTool : ISampleTool
                                 }
 
                                 RcVec3f delta = RcVec3f.Subtract(s3, s.vmin);
-                                RcVec3f p0 = RcVecUtils.Mad(s.vmin, delta, 0.5f);
+                                RcVec3f p0 = RcVec.Mad(s.vmin, delta, 0.5f);
                                 RcVec3f norm = new RcVec3f(delta.Z, 0, -delta.X);
                                 norm = RcVec3f.Normalize(norm);
-                                RcVec3f p1 = RcVecUtils.Mad(p0, norm, agentRadius * 0.5f);
+                                RcVec3f p1 = RcVec.Mad(p0, norm, agentRadius * 0.5f);
                                 // Skip backfacing segments.
                                 if (segmentRefs[j] != 0)
                                 {
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 498f70b..9c48c7f 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -61,8 +61,8 @@ namespace DotRecast.Recast.Toolset.Geom
             bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
-                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(vertices, i * 3));
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
@@ -87,9 +87,9 @@ namespace DotRecast.Recast.Toolset.Geom
         {
             for (int i = 0; i < faces.Length; i += 3)
             {
-                RcVec3f v0 = RcVecUtils.Create(vertices, faces[i] * 3);
-                RcVec3f v1 = RcVecUtils.Create(vertices, faces[i + 1] * 3);
-                RcVec3f v2 = RcVecUtils.Create(vertices, faces[i + 2] * 3);
+                RcVec3f v0 = RcVec.Create(vertices, faces[i] * 3);
+                RcVec3f v1 = RcVec.Create(vertices, faces[i + 1] * 3);
+                RcVec3f v2 = RcVec.Create(vertices, faces[i + 2] * 3);
                 RcVec3f e0 = v1 - v0;
                 RcVec3f e1 = v2 - v0;
 
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
index 105ca24..017d180 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
@@ -116,7 +116,7 @@ namespace DotRecast.Recast.Toolset.Tools
             {
                 RcVec3f p = link.startSamples[i].p;
                 RcVec3f q = link.endSamples[i].p;
-                if (i == 0 || RcVecUtils.Dist2D(prev, p) > agentRadius)
+                if (i == 0 || RcVec.Dist2D(prev, p) > agentRadius)
                 {
                     geom.AddOffMeshConnection(p, q, agentRadius, false, area, flags);
                     prev = p;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
index 2d7a960..f7ae779 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
@@ -34,7 +34,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcOffMeshConnection nearestConnection = null;
             foreach (RcOffMeshConnection offMeshCon in geom.GetOffMeshConnections())
             {
-                float d = Math.Min(RcVecUtils.DistanceSquared(p, offMeshCon.verts, 0), RcVecUtils.DistanceSquared(p, offMeshCon.verts, 3));
+                float d = Math.Min(RcVec.DistanceSquared(p, offMeshCon.verts, 0), RcVec.DistanceSquared(p, offMeshCon.verts, 3));
                 if (d < nearestDist && Math.Sqrt(d) < settings.agentRadius)
                 {
                     nearestDist = d;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 37a7b56..37702d0 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -91,7 +91,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     len = STEP_SIZE / len;
                 }
 
-                RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
+                RcVec3f moveTgt = RcVec.Mad(iterPos, delta, len);
 
                 // Move
                 navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
diff --git a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
index 56f281f..9c5700d 100644
--- a/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
+++ b/src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs
@@ -81,8 +81,8 @@ namespace DotRecast.Recast.Geom
             bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(vertices, i * 3));
-                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(vertices, i * 3));
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
diff --git a/src/DotRecast.Recast/RcAreas.cs b/src/DotRecast.Recast/RcAreas.cs
index 011d45e..82524d1 100644
--- a/src/DotRecast.Recast/RcAreas.cs
+++ b/src/DotRecast.Recast/RcAreas.cs
@@ -460,8 +460,8 @@ namespace DotRecast.Recast
             RcVec3f bmax = new RcVec3f(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
-                bmin = RcVec3f.Min(bmin, RcVecUtils.Create(verts, i));
-                bmax = RcVec3f.Max(bmax, RcVecUtils.Create(verts, i));
+                bmin = RcVec3f.Min(bmin, RcVec.Create(verts, i));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(verts, i));
             }
 
             bmin.Y = minY;
@@ -752,19 +752,19 @@ namespace DotRecast.Recast
                 int vertIndexB = vertIndex;
                 int vertIndexC = (vertIndex + 1) % numVerts;
 
-                RcVec3f vertA = RcVecUtils.Create(verts, vertIndexA * 3);
-                RcVec3f vertB = RcVecUtils.Create(verts, vertIndexB * 3);
-                RcVec3f vertC = RcVecUtils.Create(verts, vertIndexC * 3);
+                RcVec3f vertA = RcVec.Create(verts, vertIndexA * 3);
+                RcVec3f vertB = RcVec.Create(verts, vertIndexB * 3);
+                RcVec3f vertC = RcVec.Create(verts, vertIndexC * 3);
 
                 // From A to B on the x/z plane
                 RcVec3f prevSegmentDir = RcVec3f.Subtract(vertB, vertA);
                 prevSegmentDir.Y = 0; // Squash onto x/z plane
-                prevSegmentDir = RcVecUtils.SafeNormalize(prevSegmentDir);
+                prevSegmentDir = RcVec.SafeNormalize(prevSegmentDir);
 
                 // From B to C on the x/z plane
                 RcVec3f currSegmentDir = RcVec3f.Subtract(vertC, vertB);
                 currSegmentDir.Y = 0; // Squash onto x/z plane
-                currSegmentDir = RcVecUtils.SafeNormalize(currSegmentDir);
+                currSegmentDir = RcVec.SafeNormalize(currSegmentDir);
 
                 // The y component of the cross product of the two normalized segment directions.
                 // The X and Z components of the cross product are both zero because the two
@@ -791,7 +791,7 @@ namespace DotRecast.Recast
                 bool bevel = cornerMiterSqMag * MITER_LIMIT * MITER_LIMIT < 1.0f;
 
                 // Scale the corner miter so it's proportional to how much the corner should be offset compared to the edges.
-                if (cornerMiterSqMag > RcVecUtils.EPSILON)
+                if (cornerMiterSqMag > RcVec.EPSILON)
                 {
                     float scale = 1.0f / cornerMiterSqMag;
                     cornerMiterX *= scale;
diff --git a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
index e6a20e9..5d490b5 100644
--- a/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RcFilledVolumeRasterization.cs
@@ -176,7 +176,7 @@ namespace DotRecast.Recast
 
         private static void Plane(float[][] planes, int p, float[] v1, float[] v2, float[] vertices, int vert)
         {
-            RcVecUtils.Cross(planes[p], v1, v2);
+            RcVec.Cross(planes[p], v1, v2);
             planes[p][3] = planes[p][0] * vertices[vert] + planes[p][1] * vertices[vert + 1] + planes[p][2] * vertices[vert + 2];
         }
 
diff --git a/src/DotRecast.Recast/RcMeshDetails.cs b/src/DotRecast.Recast/RcMeshDetails.cs
index a12f1e4..aabb3d0 100644
--- a/src/DotRecast.Recast/RcMeshDetails.cs
+++ b/src/DotRecast.Recast/RcMeshDetails.cs
@@ -27,7 +27,7 @@ using DotRecast.Core.Numerics;
 namespace DotRecast.Recast
 {
     using static RcRecast;
-    using static RcVecUtils;
+    using static RcVec;
     using static EdgeValues;
 
     public static class RcMeshDetails
@@ -182,9 +182,9 @@ namespace DotRecast.Recast
             float dmin = float.MaxValue;
             for (int i = 0; i < ntris; ++i)
             {
-                RcVec3f va = RcVecUtils.Create(verts, tris[i * 4 + 0] * 3);
-                RcVec3f vb = RcVecUtils.Create(verts, tris[i * 4 + 1] * 3);
-                RcVec3f vc = RcVecUtils.Create(verts, tris[i * 4 + 2] * 3);
+                RcVec3f va = RcVec.Create(verts, tris[i * 4 + 0] * 3);
+                RcVec3f vb = RcVec.Create(verts, tris[i * 4 + 1] * 3);
+                RcVec3f vc = RcVec.Create(verts, tris[i * 4 + 2] * 3);
                 float d = DistPtTri(p, va, vb, vc);
                 if (d < dmin)
                 {
@@ -421,9 +421,9 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                RcVec3f vs = RcVecUtils.Create(pts, s * 3);
-                RcVec3f vt = RcVecUtils.Create(pts, t * 3);
-                RcVec3f vu = RcVecUtils.Create(pts, u * 3);
+                RcVec3f vs = RcVec.Create(pts, s * 3);
+                RcVec3f vt = RcVec.Create(pts, t * 3);
+                RcVec3f vu = RcVec.Create(pts, u * 3);
 
                 if (Cross2(vs, vt, vu) > EPS)
                 {
@@ -728,7 +728,7 @@ namespace DotRecast.Recast
 
             for (int i = 0; i < nin; ++i)
             {
-                RcVecUtils.Copy(verts, i * 3, @in, i * 3);
+                RcVec.Copy(verts, i * 3, @in, i * 3);
             }
 
             edges.Clear();
@@ -844,7 +844,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = nidx - 2; k > 0; --k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -853,7 +853,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = 1; k < nidx - 1; ++k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -888,8 +888,8 @@ namespace DotRecast.Recast
                 RcVec3f bmax = new RcVec3f(@in);
                 for (int i = 1; i < nin; ++i)
                 {
-                    bmin = RcVec3f.Min(bmin, RcVecUtils.Create(@in, i * 3));
-                    bmax = RcVec3f.Max(bmax, RcVecUtils.Create(@in, i * 3));
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(@in, i * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(@in, i * 3));
                 }
 
                 int x0 = (int)MathF.Floor(bmin.X / sampleDist);
@@ -1561,7 +1561,7 @@ namespace DotRecast.Recast
 
                 for (int k = 0; k < dm.nverts; ++k)
                 {
-                    RcVecUtils.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
+                    RcVec.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
                     mesh.nverts++;
                 }
 
diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs
index dbe74e1..177d1e3 100644
--- a/src/DotRecast.Recast/RcRasterizations.cs
+++ b/src/DotRecast.Recast/RcRasterizations.cs
@@ -233,7 +233,7 @@ namespace DotRecast.Recast
                     inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] + (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s;
                     inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] + (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s;
                     inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] + (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s;
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
+                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
                     poly1Vert++;
                     poly2Vert++;
 
@@ -241,12 +241,12 @@ namespace DotRecast.Recast
                     // since these were already added above
                     if (inVertAxisDelta[inVertA] > 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                     }
                     else if (inVertAxisDelta[inVertA] < 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly2Vert++;
                     }
                 }
@@ -255,7 +255,7 @@ namespace DotRecast.Recast
                     // add the i'th point to the right polygon. Addition is done even for points on the dividing line
                     if (inVertAxisDelta[inVertA] >= 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                         if (inVertAxisDelta[inVertA] != 0)
                         {
@@ -263,7 +263,7 @@ namespace DotRecast.Recast
                         }
                     }
 
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                     poly2Vert++;
                 }
             }
@@ -295,13 +295,13 @@ namespace DotRecast.Recast
             int flagMergeThreshold)
         {
             // Calculate the bounding box of the triangle.
-            RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
-            triBBMin = RcVec3f.Min(triBBMin, RcVecUtils.Create(verts, v1 * 3));
-            triBBMin = RcVec3f.Min(triBBMin, RcVecUtils.Create(verts, v2 * 3));
+            RcVec3f triBBMin = RcVec.Create(verts, v0 * 3);
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v1 * 3));
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v2 * 3));
 
-            RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
-            triBBMax = RcVec3f.Max(triBBMax, RcVecUtils.Create(verts, v1 * 3));
-            triBBMax = RcVec3f.Max(triBBMax, RcVecUtils.Create(verts, v2 * 3));
+            RcVec3f triBBMax = RcVec.Create(verts, v0 * 3);
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v1 * 3));
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v2 * 3));
 
             // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
             if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
@@ -328,9 +328,9 @@ namespace DotRecast.Recast
             int p1 = inRow + 7 * 3;
             int p2 = p1 + 7 * 3;
 
-            RcVecUtils.Copy(buf, 0, verts, v0 * 3);
-            RcVecUtils.Copy(buf, 3, verts, v1 * 3);
-            RcVecUtils.Copy(buf, 6, verts, v2 * 3);
+            RcVec.Copy(buf, 0, verts, v0 * 3);
+            RcVec.Copy(buf, 3, verts, v1 * 3);
+            RcVec.Copy(buf, 6, verts, v2 * 3);
             int nvRow;
             int nvIn = 3;
 
diff --git a/src/DotRecast.Recast/RcRecast.cs b/src/DotRecast.Recast/RcRecast.cs
index 393f4e3..39bef31 100644
--- a/src/DotRecast.Recast/RcRecast.cs
+++ b/src/DotRecast.Recast/RcRecast.cs
@@ -193,9 +193,9 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                RcVec3f v0 = RcVecUtils.Create(verts, tris[tri + 0] * 3);
-                RcVec3f v1 = RcVecUtils.Create(verts, tris[tri + 1] * 3);
-                RcVec3f v2 = RcVecUtils.Create(verts, tris[tri + 2] * 3);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
                 CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y > walkableThr)
@@ -231,9 +231,9 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                RcVec3f v0 = RcVecUtils.Create(verts, tris[tri + 0] * 3);
-                RcVec3f v1 = RcVecUtils.Create(verts, tris[tri + 1] * 3);
-                RcVec3f v2 = RcVecUtils.Create(verts, tris[tri + 2] * 3);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
                 CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y <= walkableThr)
diff --git a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
index c2900e5..dc441ec 100644
--- a/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
+++ b/test/DotRecast.Detour.Test/NavMeshBuilderTest.cs
@@ -54,7 +54,7 @@ public class NavMeshBuilderTest
 
         for (int i = 0; i < 2; i++)
         {
-            Assert.That(RcVecUtils.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
+            Assert.That(RcVec.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
         }
 
         Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f));
diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs
index 414f116..9495c5f 100644
--- a/test/DotRecast.Detour.Test/RandomPointTest.cs
+++ b/test/DotRecast.Detour.Test/RandomPointTest.cs
@@ -108,7 +108,7 @@ public class RandomPointTest : AbstractDetourTest
             var status = query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f, out var nextRandomRef, out var nextRandomPt);
             Assert.That(status.Failed(), Is.False);
 
-            float distance = RcVecUtils.Dist2D(randomPt, nextRandomPt);
+            float distance = RcVec.Dist2D(randomPt, nextRandomPt);
             Assert.That(distance <= radius, Is.True);
 
             randomRef = nextRandomRef;

From 35f5c63d776d9624775e1e4be4c64c8df6b135ff Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 25 Jun 2024 00:17:07 +0900
Subject: [PATCH 083/147] DtStraightPathFlags int to byte

---
 src/DotRecast.Detour/DtNavMeshQuery.cs      | 6 +++---
 src/DotRecast.Detour/DtStraightPath.cs      | 9 +++++++--
 src/DotRecast.Detour/DtStraightPathFlags.cs | 6 +++---
 3 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 1742472..1fd20c1 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -1477,7 +1477,7 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS | details;
         }
 
-        protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, Span<DtStraightPath> straightPath, ref int straightPathCount, int maxStraightPath)
+        protected DtStatus AppendVertex(RcVec3f pos, byte flags, long refs, Span<DtStraightPath> straightPath, ref int straightPathCount, int maxStraightPath)
         {
             if (straightPathCount > 0 && RcVec.Equal(straightPath[straightPathCount - 1].pos, pos))
             {
@@ -1715,7 +1715,7 @@ namespace DotRecast.Detour
                             portalApex = portalLeft;
                             apexIndex = leftIndex;
 
-                            int flags = 0;
+                            byte flags = 0;
                             if (leftPolyRef == 0)
                             {
                                 flags = DtStraightPathFlags.DT_STRAIGHTPATH_END;
@@ -1771,7 +1771,7 @@ namespace DotRecast.Detour
                             portalApex = portalRight;
                             apexIndex = rightIndex;
 
-                            int flags = 0;
+                            byte flags = 0;
                             if (rightPolyRef == 0)
                             {
                                 flags = DtStraightPathFlags.DT_STRAIGHTPATH_END;
diff --git a/src/DotRecast.Detour/DtStraightPath.cs b/src/DotRecast.Detour/DtStraightPath.cs
index f51c5f3..5bb9116 100644
--- a/src/DotRecast.Detour/DtStraightPath.cs
+++ b/src/DotRecast.Detour/DtStraightPath.cs
@@ -25,11 +25,16 @@ namespace DotRecast.Detour
     //TODO: (PP) Add comments
     public readonly struct DtStraightPath
     {
+        /// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners]
         public readonly RcVec3f pos;
-        public readonly int flags;
+
+        /// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners]
+        public readonly byte flags;
+
+        /// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners]
         public readonly long refs;
 
-        public DtStraightPath(RcVec3f pos, int flags, long refs)
+        public DtStraightPath(RcVec3f pos, byte flags, long refs)
         {
             this.pos = pos;
             this.flags = flags;
diff --git a/src/DotRecast.Detour/DtStraightPathFlags.cs b/src/DotRecast.Detour/DtStraightPathFlags.cs
index a0ea3a3..2d867c4 100644
--- a/src/DotRecast.Detour/DtStraightPathFlags.cs
+++ b/src/DotRecast.Detour/DtStraightPathFlags.cs
@@ -3,8 +3,8 @@
     /// Vertex flags returned by dtNavMeshQuery::findStraightPath.
     public static class DtStraightPathFlags
     {
-        public const int DT_STRAIGHTPATH_START = 0x01; //< The vertex is the start position in the path.
-        public const int DT_STRAIGHTPATH_END = 0x02; //< The vertex is the end position in the path.
-        public const int DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; //< The vertex is the start of an off-mesh connection.
+        public const byte DT_STRAIGHTPATH_START = 0x01; //< The vertex is the start position in the path.
+        public const byte DT_STRAIGHTPATH_END = 0x02; //< The vertex is the end position in the path.
+        public const byte DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; //< The vertex is the start of an off-mesh connection.
     }
 }
\ No newline at end of file

From bdb9463d88a0ea645c61489c07f82a8457e122b0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 25 Jun 2024 00:30:51 +0900
Subject: [PATCH 084/147] Changed RcLayerRegion.layerId to byte

---
 src/DotRecast.Recast/RcLayerRegion.cs | 16 ++++++++--------
 src/DotRecast.Recast/RcLayers.cs      |  6 +++---
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/DotRecast.Recast/RcLayerRegion.cs b/src/DotRecast.Recast/RcLayerRegion.cs
index 7c94007..dc98ecb 100644
--- a/src/DotRecast.Recast/RcLayerRegion.cs
+++ b/src/DotRecast.Recast/RcLayerRegion.cs
@@ -4,20 +4,20 @@ namespace DotRecast.Recast
 {
     public class RcLayerRegion
     {
-        public int id;
-        public int layerId; // Layer ID
-        public bool @base; // Flag indicating if the region is the base of merged regions.
+        public readonly int index;
+        public List<int> layers;
+        public List<int> neis;
         public int ymin, ymax;
-        public List<int> layers; // Layer count
-        public List<int> neis; // Neighbour count
+        public byte layerId; // Layer ID
+        public bool @base; // Flag indicating if the region is the base of merged regions.
 
         public RcLayerRegion(int i)
         {
-            id = i;
-            ymin = 0xFFFF;
-            layerId = 0xff;
+            index = i;
             layers = new List<int>();
             neis = new List<int>();
+            ymin = 0xFFFF;
+            layerId = 0xff;
         }
     };
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index 98cee66..b9a2996 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -266,7 +266,7 @@ namespace DotRecast.Recast
             }
 
             // Create 2D layers from regions.
-            int layerId = 0;
+            byte layerId = 0;
 
             List<int> stack = new List<int>();
 
@@ -335,7 +335,7 @@ namespace DotRecast.Recast
                 if (!ri.@base)
                     continue;
 
-                int newId = ri.layerId;
+                byte newId = ri.layerId;
 
                 for (;;)
                 {
@@ -411,7 +411,7 @@ namespace DotRecast.Recast
             }
 
             // Compact layerIds
-            int[] remap = new int[256];
+            Span<byte> remap = stackalloc byte[256];
 
             // Find number of unique layers.
             layerId = 0;

From d472d71795a3e07f359ecc1b11281046906a91d4 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 25 Jun 2024 00:45:08 +0900
Subject: [PATCH 085/147] Added RcSpans.Fill<T>()

---
 src/DotRecast.Core/RcSpans.cs                        | 6 ++++++
 src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs | 6 +++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/DotRecast.Core/RcSpans.cs b/src/DotRecast.Core/RcSpans.cs
index 283defc..be7f832 100644
--- a/src/DotRecast.Core/RcSpans.cs
+++ b/src/DotRecast.Core/RcSpans.cs
@@ -26,5 +26,11 @@ namespace DotRecast.Core
             var slicedDst = src.Slice(dstIdx, length);
             slicedSrc.CopyTo(slicedDst);
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Fill<T>(Span<T> span, T value, int start, int count)
+        {
+            span.Slice(start, count).Fill(value);
+        }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 819ac9e..824f881 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -52,14 +52,14 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
+            Span<byte> prevCount = stackalloc byte[256];
             byte regId = 0;
 
             for (int y = 0; y < h; ++y)
             {
                 if (regId > 0)
                 {
-                    Array.Fill(prevCount, 0, 0, regId);
+                    RcSpans.Fill<byte>(prevCount, 0, 0, regId);
                 }
 
                 // Memset(prevCount,0,Sizeof(char)*regId);
@@ -225,7 +225,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Compact ids.
-            byte[] remap = new byte[256];
+            Span<byte> remap = stackalloc byte[256];
             // Find number of unique regions.
             regId = 0;
             for (int i = 0; i < nregs; ++i)

From ee4889222308ed09dea045bf3bf87a2036be4fc3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 26 Jun 2024 23:46:40 +0900
Subject: [PATCH 086/147] Optimize stack handling by replacing List with a
 fixed-size array and manual index management in RcLayers

---
 src/DotRecast.Recast/RcLayers.cs | 41 +++++++++++++++++++-------------
 1 file changed, 24 insertions(+), 17 deletions(-)

diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index b9a2996..4a2c579 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -268,7 +268,9 @@ namespace DotRecast.Recast
             // Create 2D layers from regions.
             byte layerId = 0;
 
-            List<int> stack = new List<int>();
+            const int MAX_STACK = 64;
+            Span<byte> stack = stackalloc byte[MAX_STACK];
+            int nstack = 0;
 
             for (int i = 0; i < nregs; ++i)
             {
@@ -281,14 +283,16 @@ namespace DotRecast.Recast
                 root.layerId = layerId;
                 root.@base = true;
 
-                stack.Add(i);
+                nstack = 0;
+                stack[nstack++] = ((byte)i);
 
-                while (stack.Count != 0)
+                while (0 != nstack)
                 {
                     // Pop front
-                    int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음
-                    stack.RemoveAt(0);
-                    RcLayerRegion reg = regs[pop];
+                    RcLayerRegion reg = regs[stack[0]];
+                    nstack--;
+                    for (int j = 0; j < nstack; ++j)
+                        stack[j] = stack[j+1];
 
                     foreach (int nei in reg.neis)
                     {
@@ -307,19 +311,22 @@ namespace DotRecast.Recast
                         if ((ymax - ymin) >= 255)
                             continue;
 
-                        // Deepen
-                        stack.Add(nei);
-
-                        // Mark layer id
-                        regn.layerId = layerId;
-                        // Merge current layers to root.
-                        foreach (int layer in regn.layers)
+                        if (nstack < MAX_STACK)
                         {
-                            AddUnique(root.layers, layer);
-                        }
+                            // Deepen
+                            stack[nstack++] = (byte)nei;
 
-                        root.ymin = Math.Min(root.ymin, regn.ymin);
-                        root.ymax = Math.Max(root.ymax, regn.ymax);
+                            // Mark layer id
+                            regn.layerId = layerId;
+                            // Merge current layers to root.
+                            foreach (int layer in regn.layers)
+                            {
+                                AddUnique(root.layers, layer);
+                            }
+
+                            root.ymin = Math.Min(root.ymin, regn.ymin);
+                            root.ymax = Math.Max(root.ymax, regn.ymax);
+                        }
                     }
                 }
 

From 27751522f9c705ff0b17f851dbf2ef186ea4ff08 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 26 Jun 2024 23:48:24 +0900
Subject: [PATCH 087/147] comment

---
 CHANGELOG.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ef41a5b..b2e731d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,7 +18,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
 - Changed `RcChunkyTriMesh` to separate the function and variable.
 - Changed to consolidate vector-related functions into one place.
-  
+- Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers`
+
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
 - Removed RcVecUtils.Dot()

From ba6815769addc1d7e7a31df4d1d99d6ea80b4f21 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 27 Jun 2024 14:04:30 +0900
Subject: [PATCH 088/147] Changed to use Span<byte> and stackalloc for improved
 performance and memory management in `RcLayers.BuildHeightfieldLayers()`

---
 CHANGELOG.md                     |  3 ++-
 src/DotRecast.Recast/RcLayers.cs | 24 +++++++++++-------------
 2 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b2e731d..6bfc474 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,7 +18,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
 - Changed `RcChunkyTriMesh` to separate the function and variable.
 - Changed to consolidate vector-related functions into one place.
-- Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers`
+- Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers()`
+- Changed to use Span<byte> and stackalloc for improved performance and memory management in `RcLayers.BuildHeightfieldLayers()`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index 4a2c579..df35834 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -25,7 +25,6 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    
     using static RcRecast;
 
     public static class RcLayers
@@ -61,7 +60,6 @@ namespace DotRecast.Recast
         /// @name Layer, Contour, Polymesh, and Detail Mesh Functions
         /// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
         /// @{
-
         /// Builds a layer set from the specified compact heightfield.
         /// @ingroup recast
         /// @param[in,out]	ctx				The build context to use during the operation.
@@ -79,10 +77,10 @@ namespace DotRecast.Recast
 
             int w = chf.width;
             int h = chf.height;
-            
-            byte[] srcReg = new byte[chf.spanCount];
-            Array.Fill(srcReg, (byte)0xFF);
-            
+
+            Span<byte> srcReg = stackalloc byte[chf.spanCount];
+            srcReg.Fill(0xFF);
+
             int nsweeps = chf.width;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
@@ -91,14 +89,14 @@ namespace DotRecast.Recast
             }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
+            Span<int> prevCount = stackalloc int[256];
             byte regId = 0;
-            
+
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
-                Array.Fill(prevCount, 0);
+                prevCount.Fill(0);
                 byte sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
@@ -110,9 +108,9 @@ namespace DotRecast.Recast
                         ref RcCompactSpan s = ref chf.spans[i];
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
-                        
+
                         byte sid = 0xFF;
-                        
+
                         // -x
                         if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
                         {
@@ -292,7 +290,7 @@ namespace DotRecast.Recast
                     RcLayerRegion reg = regs[stack[0]];
                     nstack--;
                     for (int j = 0; j < nstack; ++j)
-                        stack[j] = stack[j+1];
+                        stack[j] = stack[j + 1];
 
                     foreach (int nei in reg.neis)
                     {
@@ -457,7 +455,7 @@ namespace DotRecast.Recast
             bmin.Z += borderSize * chf.cs;
             bmax.X -= borderSize * chf.cs;
             bmax.Z -= borderSize * chf.cs;
-            
+
             lset = new RcHeightfieldLayerSet();
             lset.layers = new RcHeightfieldLayer[layerId];
             for (int i = 0; i < lset.layers.Length; i++)

From a282a803566cd7cbcb6bd806697bfe1936d17cab Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 2 Jul 2024 13:47:31 +0900
Subject: [PATCH 089/147] Changed vertCount and triCount to byte in
 DtPolyDetail

---
 CHANGELOG.md                                              | 1 +
 .../Unity/Astar/GraphMeshDataReader.cs                    | 4 ++--
 src/DotRecast.Detour/DtNavMeshBuilder.cs                  | 8 ++++----
 src/DotRecast.Detour/DtPolyDetail.cs                      | 6 +++---
 src/DotRecast.Detour/Io/DtMeshDataReader.cs               | 4 ++--
 5 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6bfc474..9de7fcd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed to consolidate vector-related functions into one place.
 - Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers()`
 - Changed to use Span<byte> and stackalloc for improved performance and memory management in `RcLayers.BuildHeightfieldLayers()`
+- Changed vertCount and triCount to byte in `DtPolyDetail`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
index 74c7f7f..db7124d 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs
@@ -101,9 +101,9 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                         ymax = Math.Max(ymax, verts[nodes[i].verts[1] * 3 + 1]);
                         ymax = Math.Max(ymax, verts[nodes[i].verts[2] * 3 + 1]);
                         int vertBase = 0;
-                        int vertCount = 0;
+                        byte vertCount = 0;
                         int triBase = i;
-                        int triCount = 1;
+                        byte triCount = 1;
                         detailNodes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                         detailTris[4 * i] = 0;
                         detailTris[4 * i + 1] = 1;
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index bb9a276..632d89a 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -556,9 +556,9 @@ namespace DotRecast.Detour
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int nv = navPolys[i].vertCount;
                     int vertBase = vbase;
-                    int vertCount = (ndv - nv);
+                    byte vertCount = (byte)(ndv - nv);
                     int triBase = option.detailMeshes[i * 4 + 2];
-                    int triCount = option.detailMeshes[i * 4 + 3];
+                    byte triCount = (byte)option.detailMeshes[i * 4 + 3];
                     navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Copy vertices except the first 'nv' verts which are equal to
                     // nav poly verts.
@@ -580,9 +580,9 @@ namespace DotRecast.Detour
                 {
                     int nv = navPolys[i].vertCount;
                     int vertBase = 0;
-                    int vertCount = 0;
+                    byte vertCount = 0;
                     int triBase = tbase;
-                    int triCount = (nv - 2);
+                    byte triCount = (byte)(nv - 2);
                     navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Triangulate polygon (local indices).
                     for (int j = 2; j < nv; ++j)
diff --git a/src/DotRecast.Detour/DtPolyDetail.cs b/src/DotRecast.Detour/DtPolyDetail.cs
index 53fabec..5bc02f9 100644
--- a/src/DotRecast.Detour/DtPolyDetail.cs
+++ b/src/DotRecast.Detour/DtPolyDetail.cs
@@ -25,10 +25,10 @@ namespace DotRecast.Detour
     {
         public readonly int vertBase; //< The offset of the vertices in the dtMeshTile::detailVerts array.
         public readonly int triBase; //< The offset of the triangles in the dtMeshTile::detailTris array.
-        public readonly int vertCount; //< The number of vertices in the sub-mesh.
-        public readonly int triCount; //< The number of triangles in the sub-mesh.
+        public readonly byte vertCount; //< The number of vertices in the sub-mesh.
+        public readonly byte triCount; //< The number of triangles in the sub-mesh.
 
-        public DtPolyDetail(int vertBase, int triBase, int vertCount, int triCount)
+        public DtPolyDetail(int vertBase, int triBase, byte vertCount, byte triCount)
         {
             this.vertBase = vertBase;
             this.triBase = triBase;
diff --git a/src/DotRecast.Detour/Io/DtMeshDataReader.cs b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
index a258c5d..7c837ed 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
@@ -173,8 +173,8 @@ namespace DotRecast.Detour.Io
             {
                 int vertBase = buf.GetInt();
                 int triBase = buf.GetInt();
-                int vertCount = buf.Get() & 0xFF;
-                int triCount = buf.Get() & 0xFF;
+                byte vertCount = (byte)(buf.Get() & 0xFF);
+                byte triCount = (byte)(buf.Get() & 0xFF);
                 polys[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                 if (cCompatibility)
                 {

From 355a08e7ef262e462349a80e071a6ab7f5a23b54 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 3 Jul 2024 23:08:31 +0900
Subject: [PATCH 090/147] int to byte

---
 src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 824f881..02ec3d2 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -31,8 +31,8 @@ namespace DotRecast.Detour.TileCache
 {
     public static class DtTileCacheBuilder
     {
-        public const int DT_TILECACHE_NULL_AREA = 0;
-        public const int DT_TILECACHE_WALKABLE_AREA = 63;
+        public const byte DT_TILECACHE_NULL_AREA = 0;
+        public const byte DT_TILECACHE_WALKABLE_AREA = 63;
         public const int DT_TILECACHE_NULL_IDX = 0xffff;
 
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };

From fa2ff6f1336b7dc173097b18fd91e9a39331ecda Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 4 Jul 2024 01:14:31 +0900
Subject: [PATCH 091/147] comment

---
 src/DotRecast.Detour/DtNavMeshQuery.cs | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 1fd20c1..e0c62e8 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -39,6 +39,23 @@ namespace DotRecast.Detour
         protected readonly DtNodePool m_nodePool; //< Pointer to node pool. 
         protected readonly DtNodeQueue m_openList; //< Pointer to open list queue. 
 
+        //////////////////////////////////////////////////////////////////////////////////////////
+
+        /// @class dtNavMeshQuery
+        ///
+        /// For methods that support undersized buffers, if the buffer is too small 
+        /// to hold the entire result set the return status of the method will include 
+        /// the #DT_BUFFER_TOO_SMALL flag.
+        ///
+        /// Constant member functions can be used by multiple clients without side
+        /// effects. (E.g. No change to the closed list. No impact on an in-progress
+        /// sliced path query. Etc.)
+        /// 
+        /// Walls and portals: A @e wall is a polygon segment that is 
+        /// considered impassable. A @e portal is a passable segment between polygons.
+        /// A portal may be treated as a wall based on the dtQueryFilter used for a query.
+        ///
+        /// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery()
         public DtNavMeshQuery(DtNavMesh nav)
         {
             m_nav = nav;
@@ -254,6 +271,7 @@ namespace DotRecast.Detour
                 DtNode bestNode = m_openList.Pop();
                 bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN;
                 bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
+                
                 // Get poly and tile.
                 // The API input has been checked already, skip checking internal data.
                 long bestRef = bestNode.id;

From 4743ba68f99f8176b777467b87934b8b9f2aa3bb Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 4 Jul 2024 23:34:25 +0900
Subject: [PATCH 092/147] Changed static readonly to const

---
 src/DotRecast.Core/Numerics/RcVec.cs                 |  2 +-
 src/DotRecast.Detour/DtConvexConvexIntersections.cs  |  2 +-
 src/DotRecast.Recast.Demo/Draw/DebugDraw.cs          |  6 +++---
 src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs    |  6 +++---
 .../Builder/SampleAreaModifications.cs               | 12 ++++++------
 src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs |  4 ++--
 6 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/DotRecast.Core/Numerics/RcVec.cs b/src/DotRecast.Core/Numerics/RcVec.cs
index 6753661..33c473f 100644
--- a/src/DotRecast.Core/Numerics/RcVec.cs
+++ b/src/DotRecast.Core/Numerics/RcVec.cs
@@ -6,7 +6,7 @@ namespace DotRecast.Core.Numerics
     public static class RcVec
     {
         public const float EPSILON = 1e-6f;
-        private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
+        public static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcVec3f Create(Span<float> values, int n)
diff --git a/src/DotRecast.Detour/DtConvexConvexIntersections.cs b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
index f66fa61..7537679 100644
--- a/src/DotRecast.Detour/DtConvexConvexIntersections.cs
+++ b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
@@ -28,7 +28,7 @@ namespace DotRecast.Detour
  */
     public static class DtConvexConvexIntersections
     {
-        private static readonly float EPSILON = 0.0001f;
+        private const float EPSILON = 0.0001f;
 
         public static float[] Intersect(float[] p, float[] q)
         {
diff --git a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
index 4bd293a..97a5e09 100644
--- a/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
@@ -326,9 +326,9 @@ public class DebugDraw
         }
     }
 
-    private static readonly int NUM_ARC_PTS = 8;
-    private static readonly float PAD = 0.05f;
-    private static readonly float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
+    private const int NUM_ARC_PTS = 8;
+    private const float PAD = 0.05f;
+    private const 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)
     {
diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index 00203bb..e97d9f3 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -33,9 +33,9 @@ using static DtDetour;
 
 public class RecastDebugDraw : DebugDraw
 {
-    public static readonly int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public static readonly int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public static readonly int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
+    public const int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public const int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public const int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
diff --git a/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs b/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
index 47545e7..9269952 100644
--- a/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/SampleAreaModifications.cs
@@ -34,12 +34,12 @@ namespace DotRecast.Recast.Toolset.Builder
         public const int SAMPLE_POLYAREA_TYPE_JUMP_AUTO = 0x6;
         public const int SAMPLE_POLYAREA_TYPE_WALKABLE = 0x3f;
 
-        public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
-        public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
-        public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
-        public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
-        public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
-        public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
+        public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
+        public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
+        public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
+        public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
+        public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
+        public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
 
         public static readonly RcAreaModification SAMPLE_AREAMOD_WALKABLE = new RcAreaModification(SAMPLE_POLYAREA_TYPE_WALKABLE);
         public static readonly RcAreaModification SAMPLE_AREAMOD_GROUND = new RcAreaModification(SAMPLE_POLYAREA_TYPE_GROUND);
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs
index 72ce931..c814b27 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs
@@ -4,8 +4,8 @@ namespace DotRecast.Recast.Toolset.Gizmos
 {
     public static class RcGizmoHelper
     {
-        private static readonly int SEGMENTS = 16;
-        private static readonly int RINGS = 8;
+        private const int SEGMENTS = 16;
+        private const int RINGS = 8;
 
         private static float[] sphericalVertices;
 

From ab2c5200768847b0aeca47e3803464c34e2f570e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 5 Jul 2024 00:15:03 +0900
Subject: [PATCH 093/147] Changed `new float[]` to `stackalloc float[]` in
 `DtConvexConvexIntersections.Intersect()`

---
 CHANGELOG.md                                  |  1 +
 .../DtConvexConvexIntersections.cs            | 14 +++----
 .../DtStrictDtPolygonByCircleConstraint.cs    | 38 +++++++++----------
 3 files changed, 23 insertions(+), 30 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9de7fcd..a83a32f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers()`
 - Changed to use Span<byte> and stackalloc for improved performance and memory management in `RcLayers.BuildHeightfieldLayers()`
 - Changed vertCount and triCount to byte in `DtPolyDetail`
+- Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour/DtConvexConvexIntersections.cs b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
index 7537679..4e219ee 100644
--- a/src/DotRecast.Detour/DtConvexConvexIntersections.cs
+++ b/src/DotRecast.Detour/DtConvexConvexIntersections.cs
@@ -18,23 +18,20 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
- */
+    // Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
     public static class DtConvexConvexIntersections
     {
         private const float EPSILON = 0.0001f;
 
-        public static float[] Intersect(float[] p, float[] q)
+        public static float[] Intersect(Span<float> p, Span<float> q)
         {
             int n = p.Length / 3;
             int m = q.Length / 3;
-            float[] inters = new float[Math.Max(m, n) * 3 * 3];
+            Span<float> inters = stackalloc float[Math.Max(m, n) * 3 * 3];
             int ii = 0;
             /* Initialize variables. */
             RcVec3f a = new RcVec3f();
@@ -171,12 +168,11 @@ namespace DotRecast.Detour
                 return null;
             }
 
-            float[] copied = new float[ii];
-            RcArrays.Copy(inters, copied, ii);
+            float[] copied = inters.Slice(0, ii).ToArray();
             return copied;
         }
 
-        private static int AddVertex(float[] inters, int ii, RcVec3f p)
+        private static int AddVertex(Span<float> inters, int ii, RcVec3f p)
         {
             if (ii > 0)
             {
diff --git a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
index 1c78b6e..4e94b91 100644
--- a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
@@ -3,13 +3,11 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
-     * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
-     */
+    // Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
     public class DtStrictDtPolygonByCircleConstraint : IDtPolygonByCircleConstraint
     {
         private const int CIRCLE_SEGMENTS = 12;
-        private static readonly float[] UnitCircle = MakeUnitCircle();
+        private static readonly float[] UnitCircle = CreateCircle();
 
         public static readonly IDtPolygonByCircleConstraint Shared = new DtStrictDtPolygonByCircleConstraint();
 
@@ -17,7 +15,7 @@ namespace DotRecast.Detour
         {
         }
 
-        private static float[] MakeUnitCircle()
+        public static float[] CreateCircle()
         {
             var temp = new float[CIRCLE_SEGMENTS * 3];
             for (int i = 0; i < CIRCLE_SEGMENTS; i++)
@@ -31,6 +29,17 @@ namespace DotRecast.Detour
             return temp;
         }
 
+        public static void ScaleCircle(Span<float> src, RcVec3f center, float radius, Span<float> dst)
+        {
+            for (int i = 0; i < CIRCLE_SEGMENTS; i++)
+            {
+                dst[3 * i] = src[3 * i] * radius + center.X;
+                dst[3 * i + 1] = center.Y;
+                dst[3 * i + 2] = src[3 * i + 2] * radius + center.Z;
+            }
+        }
+
+
         public float[] Apply(float[] verts, RcVec3f center, float radius)
         {
             float radiusSqr = radius * radius;
@@ -50,29 +59,16 @@ namespace DotRecast.Detour
                 return verts;
             }
 
-            float[] qCircle = Circle(center, radius);
+            Span<float> qCircle = stackalloc float[UnitCircle.Length];
+            ScaleCircle(UnitCircle, center, radius, qCircle);
             float[] intersection = DtConvexConvexIntersections.Intersect(verts, qCircle);
             if (intersection == null && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
             {
                 // circle inside polygon
-                return qCircle;
+                return qCircle.ToArray();
             }
 
             return intersection;
         }
-
-
-        private float[] Circle(RcVec3f center, float radius)
-        {
-            float[] circle = new float[12 * 3];
-            for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
-            {
-                circle[i] = UnitCircle[i] * radius + center.X;
-                circle[i + 1] = center.Y;
-                circle[i + 2] = UnitCircle[i + 2] * radius + center.Z;
-            }
-
-            return circle;
-        }
     }
 }
\ No newline at end of file

From 828b9644ccb210de43bdc93a882a1de7440e8226 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 7 Jul 2024 12:38:09 +0900
Subject: [PATCH 094/147] Changed agents management from list to dictionary in
 `Crowd`

---
 CHANGELOG.md                               |  1 +
 src/DotRecast.Detour.Crowd/DtCrowd.cs      | 37 ++++++++++++++--------
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs |  2 +-
 3 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a83a32f..19725c9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed to use Span<byte> and stackalloc for improved performance and memory management in `RcLayers.BuildHeightfieldLayers()`
 - Changed vertCount and triCount to byte in `DtPolyDetail`
 - Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
+- Changed agents management from list to dictionary in `DtCrowd`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index e8d83c1..184b718 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -120,8 +120,9 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowd
     {
-        private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
-        private readonly List<DtCrowdAgent> _agents;
+        private readonly RcAtomicInteger _agentIdx;
+        private readonly Dictionary<int, DtCrowdAgent> _agents;
+        private readonly List<DtCrowdAgent> _activeAgents;
 
         private readonly DtPathQueue _pathQ;
 
@@ -170,7 +171,9 @@ namespace DotRecast.Detour.Crowd
             // Allocate temp buffer for merging paths.
             _maxPathResult = DtCrowdConst.MAX_PATH_RESULT;
             _pathQ = new DtPathQueue(config);
-            _agents = new List<DtCrowdAgent>();
+            _agentIdx = new RcAtomicInteger(0);
+            _agents = new Dictionary<int, DtCrowdAgent>();
+            _activeAgents = new List<DtCrowdAgent>();
 
             // The navQuery is mostly used for local searches, no need for large node pool.
             SetNavMesh(nav);
@@ -235,11 +238,10 @@ namespace DotRecast.Detour.Crowd
         /// @return The index of the agent in the agent pool. Or -1 if the agent could not be added.
         public DtCrowdAgent AddAgent(RcVec3f pos, DtCrowdAgentParams option)
         {
-            int idx = _agentId.GetAndIncrement();
+            int idx = _agentIdx.GetAndIncrement();
             DtCrowdAgent ag = new DtCrowdAgent(idx);
             ag.corridor.Init(_maxPathResult);
-            _agents.Add(ag);
-
+            AddAgent(ag);
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
@@ -278,15 +280,22 @@ namespace DotRecast.Detour.Crowd
             return ag;
         }
 
-        /**
-     * Removes the agent from the crowd.
-     *
-     * @param agent
-     *            Agent to be removed
-     */
+        // Add the agent from the crowd.
+        public void AddAgent(DtCrowdAgent agent)
+        {
+            if (_agents.TryAdd(agent.idx, agent))
+            {
+                _activeAgents.Add(agent);
+            }
+        }
+
+        // Removes the agent from the crowd.
         public void RemoveAgent(DtCrowdAgent agent)
         {
-            _agents.Remove(agent);
+            if (_agents.Remove(agent.idx))
+            {
+                _activeAgents.Remove(agent);
+            }
         }
 
         private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, RcVec3f pos)
@@ -358,7 +367,7 @@ namespace DotRecast.Detour.Crowd
      */
         public IList<DtCrowdAgent> GetActiveAgents()
         {
-            return _agents;
+            return _activeAgents;
         }
 
         public RcVec3f GetQueryExtents()
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index efb465b..613f1c6 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -28,7 +28,7 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgent
     {
-        public readonly long idx;
+        public readonly int idx;
 
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public DtCrowdAgentState state;

From 1894a5688994d169b531de442485f7bce115ed4f Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 7 Jul 2024 12:55:51 +0900
Subject: [PATCH 095/147] Changed to efficiently stack nearby DtCrowdAgents in
 `DtCrowd.GetNeighbours()`

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Detour.Crowd/DtCrowd.cs         | 16 ++++++++++++----
 src/DotRecast.Detour.Crowd/DtProximityGrid.cs |  6 +++---
 3 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 19725c9..537a55a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed vertCount and triCount to byte in `DtPolyDetail`
 - Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
 - Changed agents management from list to dictionary in `DtCrowd`
+- Changed to efficiently stack nearby DtCrowdAgents in `DtCrowd.GetNeighbours()`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 184b718..da29d83 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -280,6 +280,11 @@ namespace DotRecast.Detour.Crowd
             return ag;
         }
 
+        public DtCrowdAgent GetAgent(int idx)
+        {
+            return _agents.GetValueOrDefault(idx);
+        }
+
         // Add the agent from the crowd.
         public void AddAgent(DtCrowdAgent agent)
         {
@@ -901,12 +906,15 @@ namespace DotRecast.Detour.Crowd
         {
             result.Clear();
 
-            int MAX_NEIS = 32;
-            var ids = new DtCrowdAgent[MAX_NEIS];
-            int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ids, ids.Length);
+            const int MAX_NEIS = 32;
+            Span<int> ids = stackalloc int[MAX_NEIS];
+            int nids = grid.QueryItems(pos.X - range, pos.Z - range,
+                pos.X + range, pos.Z + range,
+                ids, ids.Length);
+            
             for (int i = 0; i < nids; ++i)
             {
-                var ag = ids[i];
+                var ag = GetAgent(ids[i]);
                 if (ag == skip)
                 {
                     continue;
diff --git a/src/DotRecast.Detour.Crowd/DtProximityGrid.cs b/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
index 82a6bb3..3cd182c 100644
--- a/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
+++ b/src/DotRecast.Detour.Crowd/DtProximityGrid.cs
@@ -83,7 +83,7 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
-        public int QueryItems(float minx, float miny, float maxx, float maxy, DtCrowdAgent[] ids, int maxIds)
+        public int QueryItems(float minx, float miny, float maxx, float maxy, Span<int> ids, int maxIds)
         {
             int iminx = (int)MathF.Floor(minx * _invCellSize);
             int iminy = (int)MathF.Floor(miny * _invCellSize);
@@ -110,7 +110,7 @@ namespace DotRecast.Detour.Crowd
                         // Check if the id exists already.
                         int end = n;
                         int i = 0;
-                        while (i != end && ids[i] != item)
+                        while (i != end && ids[i] != item.idx)
                         {
                             ++i;
                         }
@@ -118,7 +118,7 @@ namespace DotRecast.Detour.Crowd
                         // Item not found, add it.
                         if (i == n)
                         {
-                            ids[n++] = item;
+                            ids[n++] = item.idx;
 
                             if (n >= maxIds)
                                 return n;

From 76e5ade4d128d17b6129c664f6d32a648c406e5c Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 7 Jul 2024 14:04:37 +0900
Subject: [PATCH 096/147] update comment in DtCrowdNeighbour

---
 src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs b/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
index 5f19093..65fe15c 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
@@ -5,12 +5,9 @@
     /// @see dtCrowdAgent::neis, dtCrowd
     public readonly struct DtCrowdNeighbour
     {
-        public readonly DtCrowdAgent agent;
-
-        /// < The index of the neighbor in the crowd.
-        public readonly float dist;
-
-        /// < The distance between the current agent and the neighbor.
+        public readonly DtCrowdAgent agent; // < The index of the neighbor in the crowd.
+        public readonly float dist; // < The distance between the current agent and the neighbor.
+        
         public DtCrowdNeighbour(DtCrowdAgent agent, float dist)
         {
             this.agent = agent;

From 9ebaa3fc6522379301add42731ee757d3ff1bd11 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 7 Jul 2024 14:58:38 +0900
Subject: [PATCH 097/147] Changed to limit neighbor search to a maximum count
 and use array for memory efficiency in `DtCrowd.AddNeighbour()`

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Detour.Crowd/DtCrowd.cs         | 68 +++++++++++++++----
 src/DotRecast.Detour.Crowd/DtCrowdAgent.cs    |  9 ++-
 .../Tools/CrowdSampleTool.cs                  |  2 +-
 4 files changed, 63 insertions(+), 17 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 537a55a..479876f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -24,6 +24,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
 - Changed agents management from list to dictionary in `DtCrowd`
 - Changed to efficiently stack nearby DtCrowdAgents in `DtCrowd.GetNeighbours()`
+- Changed to limit neighbor search to a maximum count and use array for memory efficiency in `DtCrowd.AddNeighbour()`
 
 ### Removed
 - Removed RcMeshDetails.VdistSq2(float[], float[])
diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index da29d83..d90f4ec 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -20,7 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Threading.Tasks;
+using System.Diagnostics;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
@@ -258,6 +258,7 @@ namespace DotRecast.Detour.Crowd
 
             ag.topologyOptTime = 0;
             ag.targetReplanTime = 0;
+            ag.nneis = 0;
 
             ag.dvel = RcVec3f.Zero;
             ag.nvel = RcVec3f.Zero;
@@ -897,21 +898,63 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Query neighbour agents
-                GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ref ag.neis, _grid);
+                ag.nneis = GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ag.neis, DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS, _grid);
             }
         }
 
-
-        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid)
+        public static int AddNeighbour(DtCrowdAgent idx, float dist, Span<DtCrowdNeighbour> neis, int nneis, int maxNeis)
         {
-            result.Clear();
+            // Insert neighbour based on the distance.
+            int nei = 0;
+            if (0 == nneis)
+            {
+                nei = nneis;
+            }
+            else if (dist >= neis[nneis - 1].dist)
+            {
+                if (nneis >= maxNeis)
+                    return nneis;
+                nei = nneis;
+            }
+            else
+            {
+                int i;
+                for (i = 0; i < nneis; ++i)
+                {
+                    if (dist <= neis[i].dist)
+                    {
+                        break;
+                    }
+                }
+
+                int tgt = i + 1;
+                int n = Math.Min(nneis - i, maxNeis - tgt);
+                
+                Debug.Assert(tgt + n <= maxNeis);
+
+                if (n > 0)
+                {
+                    RcSpans.Move(neis, i, tgt, n);
+                }
+
+                nei = i;
+            }
+
+            neis[nei] = new DtCrowdNeighbour(idx, dist);
+
+            return Math.Min(nneis + 1, maxNeis);
+        }
+
+        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, DtCrowdNeighbour[] result, int maxResult, DtProximityGrid grid)
+        {
+            int n = 0;
 
             const int MAX_NEIS = 32;
             Span<int> ids = stackalloc int[MAX_NEIS];
             int nids = grid.QueryItems(pos.X - range, pos.Z - range,
                 pos.X + range, pos.Z + range,
                 ids, ids.Length);
-            
+
             for (int i = 0; i < nids; ++i)
             {
                 var ag = GetAgent(ids[i]);
@@ -934,11 +977,10 @@ namespace DotRecast.Detour.Crowd
                     continue;
                 }
 
-                result.Add(new DtCrowdNeighbour(ag, distSqr));
+                n = AddNeighbour(ag, distSqr, result, n, maxResult);
             }
 
-            result.Sort((o1, o2) => o1.dist.CompareTo(o2.dist));
-            return result.Count;
+            return n;
         }
 
         private void FindCorners(IList<DtCrowdAgent> agents, DtCrowdAgentDebugInfo debug)
@@ -1028,7 +1070,7 @@ namespace DotRecast.Detour.Crowd
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
                         ag.ncorners = 0;
-                        ag.neis.Clear();
+                        ag.nneis = 0;
                         continue;
                     }
                     else
@@ -1093,7 +1135,7 @@ namespace DotRecast.Detour.Crowd
                     float w = 0;
                     RcVec3f disp = new RcVec3f();
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
 
@@ -1155,7 +1197,7 @@ namespace DotRecast.Detour.Crowd
                     _obstacleQuery.Reset();
 
                     // Add neighbours as obstacles.
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
                         _obstacleQuery.AddCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
@@ -1243,7 +1285,7 @@ namespace DotRecast.Detour.Crowd
 
                     float w = 0;
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
                         long idx1 = nei.idx;
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
index 613f1c6..608b830 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs
@@ -37,16 +37,19 @@ namespace DotRecast.Detour.Crowd
         public bool partial;
 
         /// The path corridor the agent is using.
-        public DtPathCorridor corridor;
+        public readonly DtPathCorridor corridor;
 
         /// The local boundary data for the agent.
-        public DtLocalBoundary boundary;
+        public readonly DtLocalBoundary boundary;
 
         /// Time since the agent's path corridor was optimized.
         public float topologyOptTime;
 
         /// The known neighbors of the agent.
-        public List<DtCrowdNeighbour> neis = new List<DtCrowdNeighbour>();
+        public readonly DtCrowdNeighbour[] neis = new DtCrowdNeighbour[DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS];
+        
+        /// The number of neighbors.
+        public int nneis;
 
         /// The desired speed.
         public float desiredSpeed;
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
index 917e95f..2100bd8 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdSampleTool.cs
@@ -325,7 +325,7 @@ public class CrowdSampleTool : ISampleTool
                     2.0f);
 
                 dd.Begin(LINES, 2.0f);
-                for (int j = 0; j < ag.neis.Count; ++j)
+                for (int j = 0; j < ag.nneis; ++j)
                 {
                     DtCrowdAgent nei = ag.neis[j].agent;
                     if (nei != null)

From 31b7eaf9a376fefd08bfa8d389be6778322df123 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 8 Jul 2024 13:55:56 +0900
Subject: [PATCH 098/147] update comment

---
 .../DtObstacleAvoidanceParams.cs                  | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
index d35ee82..6b8ac87 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
@@ -8,18 +8,11 @@
         public float weightSide;
         public float weightToi;
         public float horizTime;
-        public int gridSize;
+        public int gridSize; // < grid
+        public int adaptiveDivs; // < adaptive
+        public int adaptiveRings; // < adaptive
+        public int adaptiveDepth; // < adaptive
 
-        /// < grid
-        public int adaptiveDivs;
-
-        /// < adaptive
-        public int adaptiveRings;
-
-        /// < adaptive
-        public int adaptiveDepth;
-
-        /// < adaptive
         public DtObstacleAvoidanceParams()
         {
             velBias = 0.4f;

From b34b17e89cd136367a019c535cc8665b7aad8167 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 8 Jul 2024 14:01:28 +0900
Subject: [PATCH 099/147] update comment in DtCrowdAgentParams

---
 .../DtCrowdAgentParams.cs                     | 20 ++++++-------------
 1 file changed, 6 insertions(+), 14 deletions(-)

diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
index 174f164..d130bbd 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs
@@ -24,24 +24,16 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgentParams
     {
-        /// < Agent radius. [Limit: >= 0]
-        public float radius;
+        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]
 
-        /// < Agent height. [Limit: > 0]
-        public float height;
-
-        /// < Maximum allowed acceleration. [Limit: >= 0]
-        public float maxAcceleration;
-
-        /// < Maximum allowed speed. [Limit: >= 0]
-        public float maxSpeed;
-                
         /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
         public float collisionQueryRange;
 
-        /// < The path visibility optimization range. [Limit: > 0]
-        public float pathOptimizationRange;
-                
+        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;
 

From fbce7f40f49cf87f70cec94787ac2b893edaf023 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 9 Jul 2024 00:10:38 +0900
Subject: [PATCH 100/147] 2024.3.1

---
 CHANGELOG.md | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 479876f..165b6a4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,25 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Fixed
-- Fixed bug where the dynamic voxel save file browser doesn't appear in Recast.Demo
+- Nothing
+
+### Changed
+- Nothing
+
+### Removed
+- Nothing
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+
+## [2024.3.1] - 2024-07-09
+
+### Added
+- Nothing
+
+### Fixed
+- Fixed bug where the dynamic voxel save file browser doesn't appear in `Recast.Demo`
 
 ### Changed
 - Changed to reuse samples and edges list in `BuildPolyDetail()`

From c1e7b84efa2f425e62b1212856b1bf038cf8949e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 9 Jul 2024 00:11:02 +0900
Subject: [PATCH 101/147] update readme

---
 README.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/README.md b/README.md
index 0b59cfc..8cc246e 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,6 @@
 [![GitHub closed issues](https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7)](https://github.com/ikpil/DotRecast/issues)
 [![NuGet Version](https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
 [![NuGet Downloads](https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
-[![Visitors](https://api.visitorbadge.io/api/daily?path=ikpil%2FDotRecast&countColor=%23263759)](https://visitorbadge.io/status?path=ikpil%2FDotRecast)
 [![GitHub Sponsors](https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil)](https://github.com/sponsors/ikpil)
 
 ---

From afe93d084e61ea4960fa20a7348b399a1aef45f6 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 12 Jul 2024 01:46:53 +0900
Subject: [PATCH 102/147] update comment

---
 src/DotRecast.Recast/RcMeshs.cs | 27 +++++++++++++++++++++------
 1 file changed, 21 insertions(+), 6 deletions(-)

diff --git a/src/DotRecast.Recast/RcMeshs.cs b/src/DotRecast.Recast/RcMeshs.cs
index b4cdf83..5a2ddbd 100644
--- a/src/DotRecast.Recast/RcMeshs.cs
+++ b/src/DotRecast.Recast/RcMeshs.cs
@@ -715,8 +715,13 @@ namespace DotRecast.Recast
                 int nv = CountPolyVerts(mesh.polys, p, nvp);
                 bool hasRem = false;
                 for (int j = 0; j < nv; ++j)
+                {
                     if (mesh.polys[p + j] == rem)
+                    {
                         hasRem = true;
+                    }
+                }
+
                 if (hasRem)
                 {
                     // Collect edges which does not touch the removed vertex.
@@ -956,7 +961,7 @@ namespace DotRecast.Recast
                 mesh.npolys++;
                 if (mesh.npolys > maxTris)
                 {
-                    throw new Exception("removeVertex: Too many polygons " + mesh.npolys + " (max:" + maxTris + ".");
+                    throw new Exception($"removeVertex: Too many polygons {mesh.npolys} max:({maxTris}).");
                 }
             }
         }
@@ -1033,11 +1038,23 @@ namespace DotRecast.Recast
                 // Triangulate contour
                 for (int j = 0; j < cont.nverts; ++j)
                     indices[j] = j;
+
                 int ntris = Triangulate(cont.nverts, cont.verts, indices, tris);
                 if (ntris <= 0)
                 {
                     // Bad triangulation, should not happen.
-                    ctx.Warn("buildPolyMesh: Bad triangulation Contour " + i + ".");
+                    /*
+                    printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
+                    printf("\tconst float cs = %ff;\n", cset.cs);
+                    printf("\tconst float ch = %ff;\n", cset.ch);
+                    printf("\tconst int verts[] = {\n");
+                    for (int k = 0; k < cont.nverts; ++k)
+                    {
+                       const int* v = &cont.verts[k*4];
+                       printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
+                    }
+                    printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
+                    ctx.Warn($"BuildPolyMesh: Bad triangulation Contour {i}.");
                     ntris = -ntris;
                 }
 
@@ -1198,14 +1215,12 @@ namespace DotRecast.Recast
 
             if (mesh.nverts > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many vertices {mesh.nverts} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             if (mesh.npolys > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many polygons {mesh.npolys} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             return mesh;

From c5820af20ba80f83e4be008b72e04854e8d3d4af Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 12 Jul 2024 01:54:38 +0900
Subject: [PATCH 103/147] update comment

---
 src/DotRecast.Recast/RcContour.cs | 25 +++++++------------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/src/DotRecast.Recast/RcContour.cs b/src/DotRecast.Recast/RcContour.cs
index df78da5..631f943 100644
--- a/src/DotRecast.Recast/RcContour.cs
+++ b/src/DotRecast.Recast/RcContour.cs
@@ -20,25 +20,14 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a simple, non-overlapping contour in field space. */
+    /// Represents a simple, non-overlapping contour in field space.
     public class RcContour
     {
-        /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */
-        public int[] verts;
-
-        /** The number of vertices in the simplified contour. */
-        public int nverts;
-
-        /** Raw contour vertex and connection data. [Size: 4 * #nrverts] */
-        public int[] rverts;
-
-        /** The number of vertices in the raw contour. */
-        public int nrverts;
-
-        /** The region id of the contour. */
-        public int area;
-
-        /** The area id of the contour. */
-        public int reg;
+        public int[] verts; //< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+        public int nverts; //< The number of vertices in the simplified contour.
+        public int[] rverts; //< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+        public int nrverts; //< The number of vertices in the raw contour.
+        public int reg; //< The region id of the contour.
+        public int area; //< The area id of the contour.
     }
 }
\ No newline at end of file

From 00950b1210d673542ad06b903188e807da3896e6 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 12 Jul 2024 23:18:19 +0900
Subject: [PATCH 104/147] update Serilog.Settings.Configuration 8.0.2

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index d111268..200966b 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -21,7 +21,7 @@
 
   <ItemGroup>
     <PackageReference Include="Serilog" Version="4.0.0" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.1" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.2" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />

From 990dbcf97f00149b4b18f96e21410c29f5f75ed5 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 12 Jul 2024 23:55:35 +0900
Subject: [PATCH 105/147] Changed data structure of 'neis' from List<byte> to
 byte[] for optimized memory usage and improved access speed in
 `DtLayerMonotoneRegion`

---
 CHANGELOG.md                                  |  2 +-
 src/DotRecast.Core/Numerics/RcVec.cs          |  8 ++++++++
 .../DtLayerMonotoneRegion.cs                  |  3 ++-
 .../DtTileCacheBuilder.cs                     | 20 +++++++++++--------
 src/DotRecast.Recast/RcLayers.cs              |  1 -
 src/DotRecast.Recast/RcRasterizations.cs      |  4 ++--
 src/DotRecast.Recast/RcRegions.cs             |  6 +++---
 7 files changed, 28 insertions(+), 16 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 165b6a4..92bb78a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,7 +13,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Changed
-- Nothing
+- Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Core/Numerics/RcVec.cs b/src/DotRecast.Core/Numerics/RcVec.cs
index 33c473f..aa847ee 100644
--- a/src/DotRecast.Core/Numerics/RcVec.cs
+++ b/src/DotRecast.Core/Numerics/RcVec.cs
@@ -135,6 +135,14 @@ namespace DotRecast.Core.Numerics
             @out[n + 1] = @in[m + 1];
             @out[n + 2] = @in[m + 2];
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy(Span<float> @out, int n, Span<float> @in, int m)
+        {
+            @out[n + 0] = @in[m + 0];
+            @out[n + 1] = @in[m + 1];
+            @out[n + 2] = @in[m + 2];
+        }
 
         /// Returns the distance between two points.
         /// @param[in] v1 A point. [(x, y, z)]
diff --git a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
index f4b885c..375810a 100644
--- a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
+++ b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
@@ -7,7 +7,8 @@ namespace DotRecast.Detour.TileCache
         public const int DT_LAYER_MAX_NEIS = 16;
 
         public int area;
-        public List<byte> neis = new List<byte>(DT_LAYER_MAX_NEIS);
+        public byte[] neis = new byte[DT_LAYER_MAX_NEIS];
+        public byte nneis;
         public byte regId;
         public byte areaId;
     };
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
index 02ec3d2..1bb5cd1 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs
@@ -181,8 +181,8 @@ namespace DotRecast.Detour.TileCache
                         byte rai = layer.regs[ymi];
                         if (rai != 0xff && rai != ri)
                         {
-                            AddUniqueLast(regs[ri].neis, rai);
-                            AddUniqueLast(regs[rai].neis, ri);
+                            AddUniqueLast(regs[ri].neis, ref regs[ri].nneis, rai);
+                            AddUniqueLast(regs[rai].neis, ref regs[rai].nneis, ri);
                         }
                     }
                 }
@@ -197,8 +197,9 @@ namespace DotRecast.Detour.TileCache
 
                 int merge = -1;
                 int mergea = 0;
-                foreach (int nei in reg.neis)
+                for (int j = 0; j < reg.nneis; ++j)
                 {
+                    byte nei = reg.neis[j];
                     DtLayerMonotoneRegion regn = regs[nei];
                     if (reg.regId == regn.regId)
                         continue;
@@ -246,12 +247,13 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static void AddUniqueLast(List<byte> a, byte v)
+        public static void AddUniqueLast(byte[] a, ref byte an, byte v)
         {
-            int n = a.Count;
+            int n = an;
             if (n > 0 && a[n - 1] == v)
                 return;
-            a.Add(v);
+            a[an] = v;
+            an++;
         }
 
         public static bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
@@ -271,9 +273,11 @@ namespace DotRecast.Detour.TileCache
                 DtLayerMonotoneRegion reg = regs[i];
                 if (reg.regId != oldRegId)
                     continue;
-                foreach (int nei in reg.neis)
+
+                int nnei = reg.nneis;
+                for (int j = 0; j < nnei ; ++j)
                 {
-                    if (regs[nei].regId == newRegId)
+                    if (regs[reg.neis[j]].regId == newRegId)
                         count++;
                 }
             }
diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index df35834..6b92f6b 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -32,7 +32,6 @@ namespace DotRecast.Recast
         const int RC_MAX_LAYERS = RcRecast.RC_NOT_CONNECTED;
         const int RC_MAX_NEIS = 16;
 
-
         private static void AddUnique(List<int> a, int v)
         {
             if (!a.Contains(v))
diff --git a/src/DotRecast.Recast/RcRasterizations.cs b/src/DotRecast.Recast/RcRasterizations.cs
index 177d1e3..74ed12a 100644
--- a/src/DotRecast.Recast/RcRasterizations.cs
+++ b/src/DotRecast.Recast/RcRasterizations.cs
@@ -209,7 +209,7 @@ namespace DotRecast.Recast
         /// @param[out]	outVerts2Count	The number of resulting polygon 2 vertices
         /// @param[in]	axisOffset		THe offset along the specified axis
         /// @param[in]	axis			The separating axis
-        private static void DividePoly(float[] inVerts, int inVertsOffset, int inVertsCount,
+        private static void DividePoly(Span<float> inVerts, int inVertsOffset, int inVertsCount,
             int outVerts1, out int outVerts1Count,
             int outVerts2, out int outVerts2Count,
             float axisOffset, int axis)
@@ -322,7 +322,7 @@ namespace DotRecast.Recast
             z1 = Math.Clamp(z1, 0, h - 1);
 
             // Clip the triangle into all grid cells it touches.
-            float[] buf = new float[7 * 3 * 4];
+            Span<float> buf = stackalloc float[7 * 3 * 4];
             int @in = 0;
             int inRow = 7 * 3;
             int p1 = inRow + 7 * 3;
diff --git a/src/DotRecast.Recast/RcRegions.cs b/src/DotRecast.Recast/RcRegions.cs
index 9fab149..607259e 100644
--- a/src/DotRecast.Recast/RcRegions.cs
+++ b/src/DotRecast.Recast/RcRegions.cs
@@ -1665,8 +1665,8 @@ namespace DotRecast.Recast
 
             ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
 
-            int LOG_NB_STACKS = 3;
-            int NB_STACKS = 1 << LOG_NB_STACKS;
+            const int LOG_NB_STACKS = 3;
+            const int NB_STACKS = 1 << LOG_NB_STACKS;
             List<List<RcLevelStackEntry>> lvlStacks = new List<List<RcLevelStackEntry>>();
             for (int i = 0; i < NB_STACKS; ++i)
             {
@@ -1756,7 +1756,7 @@ namespace DotRecast.Recast
             ExpandRegions(expandIters * 8, 0, chf, srcReg, srcDist, stack, true);
 
             ctx.StopTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
-
+            
             ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
 
             // Merge regions and filter out small regions.

From eccce01cfffc05f0d5437601fd73dd0339dcd08b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 13 Jul 2024 23:21:56 +0900
Subject: [PATCH 106/147] reorder variable declarations

---
 src/DotRecast.Recast/RcLayers.cs | 3 ---
 src/DotRecast.Recast/RcRecast.cs | 5 +++++
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/DotRecast.Recast/RcLayers.cs b/src/DotRecast.Recast/RcLayers.cs
index 6b92f6b..e8b5911 100644
--- a/src/DotRecast.Recast/RcLayers.cs
+++ b/src/DotRecast.Recast/RcLayers.cs
@@ -29,9 +29,6 @@ namespace DotRecast.Recast
 
     public static class RcLayers
     {
-        const int RC_MAX_LAYERS = RcRecast.RC_NOT_CONNECTED;
-        const int RC_MAX_NEIS = 16;
-
         private static void AddUnique(List<int> a, int v)
         {
             if (!a.Contains(v))
diff --git a/src/DotRecast.Recast/RcRecast.cs b/src/DotRecast.Recast/RcRecast.cs
index 39bef31..146d91f 100644
--- a/src/DotRecast.Recast/RcRecast.cs
+++ b/src/DotRecast.Recast/RcRecast.cs
@@ -49,6 +49,11 @@ namespace DotRecast.Recast
         /// The number of spans allocated per span spool.
         /// @see rcSpanPool
         public const int RC_SPANS_PER_POOL = 2048;
+        
+        // Must be 255 or smaller (not 256) because layer IDs are stored as
+        // a byte where 255 is a special value.
+        public const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
+        public const int RC_MAX_NEIS = 16;
 
         /// Heighfield border flag.
         /// If a heightfield region ID has this bit set, then the region is a border

From c562f8f6a16cd2e49984f9b711134a5add8c6413 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 14 Jul 2024 00:09:08 +0900
Subject: [PATCH 107/147] Changed new RcVec3f[3] to stackalloc RcVec3f[3] in
 DtNavMesh.GetPolyHeight() to reduce heap allocation.

---
 CHANGELOG.md                                         |  1 +
 src/DotRecast.Detour/DtNavMesh.cs                    | 12 +++++++-----
 src/DotRecast.Detour/DtNavMeshRaycast.cs             |  4 +++-
 .../Gizmos/RcCapsuleGizmo.cs                         |  2 +-
 .../Gizmos/RcCylinderGizmo.cs                        |  2 +-
 .../Tools/RcTestNavMeshTool.cs                       |  2 +-
 src/DotRecast.Recast/RcPolyMeshRaycast.cs            |  4 +++-
 7 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 92bb78a..b25300a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
+- Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 0960267..d31cbac 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -66,7 +66,7 @@ namespace DotRecast.Detour
             m_tiles = new DtMeshTile[m_maxTiles];
             m_posLookup = new DtMeshTile[m_tileLutSize];
             m_nextFree = null;
-            for (int i = m_maxTiles-1; i >= 0; --i)
+            for (int i = m_maxTiles - 1; i >= 0; --i)
             {
                 m_tiles[i] = new DtMeshTile(i);
                 m_tiles[i].salt = 1;
@@ -1045,6 +1045,7 @@ namespace DotRecast.Detour
             RcVec3f pmin = new RcVec3f();
             RcVec3f pmax = new RcVec3f();
 
+            Span<RcVec3f> tempV = stackalloc RcVec3f[3];
             if (tile.data.detailMeshes != null)
             {
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
@@ -1057,7 +1058,7 @@ namespace DotRecast.Detour
                         continue;
                     }
 
-                    RcVec3f[] v = new RcVec3f[3];
+                    Span<RcVec3f> v = tempV;
                     for (int j = 0; j < 3; ++j)
                     {
                         if (tris[ti + j] < poly.vertCount)
@@ -1105,7 +1106,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                RcVec3f[] v = new RcVec3f[2];
+                Span<RcVec3f> v = tempV.Slice(0, 2);
                 for (int j = 0; j < poly.vertCount; ++j)
                 {
                     int k = (j + 1) % poly.vertCount;
@@ -1156,13 +1157,14 @@ namespace DotRecast.Detour
             }
 
             // Find height at the location.
+            Span<RcVec3f> tempV = stackalloc RcVec3f[3];
             if (tile.data.detailMeshes != null)
             {
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;
-                    RcVec3f[] v = new RcVec3f[3];
+                    Span<RcVec3f> v = tempV;
                     for (int k = 0; k < 3; ++k)
                     {
                         if (tile.data.detailTris[t + k] < poly.vertCount)
@@ -1196,7 +1198,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                RcVec3f[] v = new RcVec3f[3];
+                Span<RcVec3f> v = tempV;
                 v[0].X = tile.data.verts[poly.verts[0] * 3];
                 v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1];
                 v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2];
diff --git a/src/DotRecast.Detour/DtNavMeshRaycast.cs b/src/DotRecast.Detour/DtNavMeshRaycast.cs
index 5d31955..e0d60b1 100644
--- a/src/DotRecast.Detour/DtNavMeshRaycast.cs
+++ b/src/DotRecast.Detour/DtNavMeshRaycast.cs
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -48,6 +49,7 @@ namespace DotRecast.Detour
         private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0.0f;
+            Span<RcVec3f> tempVerts = stackalloc RcVec3f[3];
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly p = tile.data.polys[i];
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
 
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
 
-                RcVec3f[] verts = new RcVec3f[3];
+                Span<RcVec3f> verts = tempVerts;
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
index 90a10a7..1e86135 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
@@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
                 0.5f * (start.Z + end.Z)
             };
             RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
-            RcVec3f[] normals = new RcVec3f[3];
+            Span<RcVec3f> normals = stackalloc RcVec3f[3];
             normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
index 2183bbf..841e7f4 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
@@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
                 0.5f * (start.Z + end.Z)
             );
             RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
-            RcVec3f[] normals = new RcVec3f[3];
+            Span<RcVec3f> normals = stackalloc RcVec3f[3];
             normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 37702d0..2375bf6 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -380,7 +380,7 @@ namespace DotRecast.Recast.Toolset.Tools
             float nx = (epos.Z - spos.Z) * 0.25f;
             float nz = -(epos.X - spos.X) * 0.25f;
 
-            var tempQueryPoly = new RcVec3f[4];
+            RcVec3f[] tempQueryPoly = new RcVec3f[4];
             tempQueryPoly[0].X = spos.X + nx * 1.2f;
             tempQueryPoly[0].Y = spos.Y + agentHeight / 2;
             tempQueryPoly[0].Z = spos.Z + nz * 1.2f;
diff --git a/src/DotRecast.Recast/RcPolyMeshRaycast.cs b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
index 279538e..f872a92 100644
--- a/src/DotRecast.Recast/RcPolyMeshRaycast.cs
+++ b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -45,6 +46,7 @@ namespace DotRecast.Recast
         private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0;
+            Span<RcVec3f> tempVs = stackalloc RcVec3f[3];
             if (meshDetail != null)
             {
                 for (int i = 0; i < meshDetail.nmeshes; ++i)
@@ -57,7 +59,7 @@ namespace DotRecast.Recast
                     int tris = btris * 4;
                     for (int j = 0; j < ntris; ++j)
                     {
-                        RcVec3f[] vs = new RcVec3f[3];
+                        Span<RcVec3f> vs = tempVs;
                         for (int k = 0; k < 3; ++k)
                         {
                             vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];

From 84419b1d522dea8cc175ef489f672342f28c1a57 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 14 Jul 2024 23:51:04 +0900
Subject: [PATCH 108/147] Changed memory handling to use stackalloc in
 DtNavMeshQuery.GetPolyWallSegments for reducing SOH

Refactored to use stack-allocated Span<DtSegInterval> instead of dynamically allocating List<DtSegInterval>. This reduces potential heap allocations and improves performance by efficiently managing memory within a fixed size context.
---
 CHANGELOG.md                           |  1 +
 src/DotRecast.Detour/DtNavMeshQuery.cs | 69 ++++++++++++++++----------
 2 files changed, 45 insertions(+), 25 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b25300a..3f2e575 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
 - Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
+- Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index e0c62e8..704a293 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -271,7 +271,7 @@ namespace DotRecast.Detour
                 DtNode bestNode = m_openList.Pop();
                 bestNode.flags &= ~DtNodeFlags.DT_NODE_OPEN;
                 bestNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
-                
+
                 // Get poly and tile.
                 // The API input has been checked already, skip checking internal data.
                 long bestRef = bestNode.id;
@@ -3090,11 +3090,14 @@ namespace DotRecast.Detour
         }
 
 
-        protected void InsertInterval(List<DtSegInterval> ints, int tmin, int tmax, long refs)
+        protected void InsertInterval(Span<DtSegInterval> ints, ref int nints, int maxInts, int tmin, int tmax, long refs)
         {
+            if (nints + 1 > maxInts)
+                return;
+
             // Find insertion point.
             int idx = 0;
-            while (idx < ints.Count)
+            while (idx < nints)
             {
                 if (tmax <= ints[idx].tmin)
                 {
@@ -3104,29 +3107,36 @@ namespace DotRecast.Detour
                 idx++;
             }
 
+            // Move current results.
+            if (0 != nints - idx)
+            {
+                RcSpans.Move(ints, idx, idx + 1, nints - idx);
+            }
+
             // Store
-            ints.Insert(idx, new DtSegInterval(refs, tmin, tmax));
+            ints[idx] = new DtSegInterval(refs, tmin, tmax);
+            nints++;
         }
 
         /// @par
         ///
-        /// If the @p segmentRefs parameter is provided, then all polygon segments will be returned.
+        /// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. 
         /// Otherwise only the wall segments are returned.
-        ///
-        /// A segment that is normally a portal will be included in the result set as a
+        /// 
+        /// A segment that is normally a portal will be included in the result set as a 
         /// wall if the @p filter results in the neighbor polygon becoomming impassable.
-        ///
-        /// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the
+        /// 
+        /// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the 
         /// maximum segments per polygon of the source navigation mesh.
-        ///
+        /// 
         /// Returns the segments for the specified polygon, optionally including portals.
-        /// @param[in] ref The reference id of the polygon.
-        /// @param[in] filter The polygon filter to apply to the query.
-        /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
-        /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon.
-        /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount]
-        /// @param[out] segmentCount The number of segments returned.
-        /// @param[in] maxSegments The maximum number of segments the result arrays can hold.
+        ///  @param[in]		ref				The reference id of the polygon.
+        ///  @param[in]		filter			The polygon filter to apply to the query.
+        ///  @param[out]	segmentVerts	The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
+        ///  @param[out]	segmentRefs		The reference ids of each segment's neighbor polygon. 
+        ///  								Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] 
+        ///  @param[out]	segmentCount	The number of segments returned.
+        ///  @param[in]		maxSegments		The maximum number of segments the result arrays can hold.
         /// @returns The status flags for the query.
         public DtStatus GetPolyWallSegments(long refs, bool storePortals, IDtQueryFilter filter,
             ref List<RcSegmentVert> segmentVerts, ref List<long> segmentRefs)
@@ -3134,7 +3144,7 @@ namespace DotRecast.Detour
             segmentVerts.Clear();
             segmentRefs.Clear();
 
-            var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
+            DtStatus status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
             if (status.Failed())
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
@@ -3145,11 +3155,17 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            List<DtSegInterval> ints = new List<DtSegInterval>(16);
+            int n = 0;
+            const int MAX_INTERVAL = 16;
+            Span<DtSegInterval> ints = stackalloc DtSegInterval[MAX_INTERVAL];
+            int nints;
+
+            status = DtStatus.DT_SUCCESS;
+
             for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++)
             {
                 // Skip non-solid edges.
-                ints.Clear();
+                nints = 0;
                 if ((poly.neis[j] & DT_EXT_LINK) != 0)
                 {
                     // Tile border.
@@ -3163,7 +3179,7 @@ namespace DotRecast.Detour
                                 m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
                                 if (filter.PassFilter(link.refs, neiTile, neiPoly))
                                 {
-                                    InsertInterval(ints, link.bmin, link.bmax, link.refs);
+                                    InsertInterval(ints, ref nints, MAX_INTERVAL, link.bmin, link.bmax, link.refs);
                                 }
                             }
                         }
@@ -3198,17 +3214,18 @@ namespace DotRecast.Detour
                     // RcArrays.Copy(tile.data.verts, ivi, seg, 3, 3);
                     segmentVerts.Add(seg);
                     segmentRefs.Add(neiRef);
+                    n++;
                     continue;
                 }
 
                 // Add sentinels
-                InsertInterval(ints, -1, 0, 0);
-                InsertInterval(ints, 255, 256, 0);
+                InsertInterval(ints, ref nints, MAX_INTERVAL, -1, 0, 0);
+                InsertInterval(ints, ref nints, MAX_INTERVAL, 255, 256, 0);
 
                 // Store segments.
                 int vj = poly.verts[j] * 3;
                 int vi = poly.verts[i] * 3;
-                for (int k = 1; k < ints.Count; ++k)
+                for (int k = 1; k < nints; ++k)
                 {
                     // Portal segment.
                     if (storePortals && ints[k].refs != 0)
@@ -3220,6 +3237,7 @@ namespace DotRecast.Detour
                         seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
                         segmentVerts.Add(seg);
                         segmentRefs.Add(ints[k].refs);
+                        n++;
                     }
 
                     // Wall segment.
@@ -3234,11 +3252,12 @@ namespace DotRecast.Detour
                         seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
                         segmentVerts.Add(seg);
                         segmentRefs.Add(0L);
+                        n++;
                     }
                 }
             }
 
-            return DtStatus.DT_SUCCESS;
+            return status;
         }
 
         /// @par

From cf7aec90eefc8ea242cf23a169dd5e835bc2323b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 16 Jul 2024 22:19:41 +0900
Subject: [PATCH 109/147] Changed DtNavMeshQuery.GetPolyWallSegments() to use
 Span<T> for enhanced performance, memory efficiency.

---
 CHANGELOG.md                                  |  1 +
 src/DotRecast.Detour.Crowd/DtLocalBoundary.cs | 14 +--
 src/DotRecast.Detour/DtNavMeshQuery.cs        | 94 +++++++++++++------
 .../Tools/TestNavmeshSampleTool.cs            | 16 ++--
 .../GetPolyWallSegmentsTest.cs                | 28 +++---
 5 files changed, 101 insertions(+), 52 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3f2e575..9216655 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
 - Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
 - Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
+- Changed DtNavMeshQuery.GetPolyWallSegments() to use Span<T> for enhanced performance, memory efficiency.
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
index 85a3818..2b235ba 100644
--- a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
+++ b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -90,6 +91,8 @@ namespace DotRecast.Detour.Crowd
 
         public void Update(long startRef, RcVec3f pos, float collisionQueryRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
+            const int MAX_SEGS_PER_POLY = DtDetour.DT_VERTS_PER_POLYGON * 3;
+
             if (startRef == 0)
             {
                 Reset();
@@ -104,18 +107,17 @@ namespace DotRecast.Detour.Crowd
             {
                 // Secondly, store all polygon edges.
                 m_segs.Clear();
-
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS_PER_POLY];
+                int nsegs = 0;
 
                 for (int j = 0; j < m_polys.Count; ++j)
                 {
-                    var result = navquery.GetPolyWallSegments(m_polys[j], false, filter, ref segmentVerts, ref segmentRefs);
+                    var result = navquery.GetPolyWallSegments(m_polys[j], filter, segs, null, ref nsegs, MAX_SEGS_PER_POLY);
                     if (result.Succeeded())
                     {
-                        for (int k = 0; k < segmentRefs.Count; ++k)
+                        for (int k = 0; k < nsegs; ++k)
                         {
-                            RcSegmentVert s = segmentVerts[k];
+                            ref RcSegmentVert s = ref segs[k];
                             var s0 = s.vmin;
                             var s3 = s.vmax;
 
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 704a293..4d186ba 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -3138,12 +3138,12 @@ namespace DotRecast.Detour
         ///  @param[out]	segmentCount	The number of segments returned.
         ///  @param[in]		maxSegments		The maximum number of segments the result arrays can hold.
         /// @returns The status flags for the query.
-        public DtStatus GetPolyWallSegments(long refs, bool storePortals, IDtQueryFilter filter,
-            ref List<RcSegmentVert> segmentVerts, ref List<long> segmentRefs)
+        public DtStatus GetPolyWallSegments(long refs, IDtQueryFilter filter,
+            Span<RcSegmentVert> segmentVerts, Span<long> segmentRefs, ref int segmentCount,
+            int maxSegments)
         {
-            segmentVerts.Clear();
-            segmentRefs.Clear();
-
+            segmentCount = 0;
+            
             DtStatus status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
             if (status.Failed())
             {
@@ -3160,6 +3160,8 @@ namespace DotRecast.Detour
             Span<DtSegInterval> ints = stackalloc DtSegInterval[MAX_INTERVAL];
             int nints;
 
+            bool storePortals = segmentRefs != null;
+
             status = DtStatus.DT_SUCCESS;
 
             for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++)
@@ -3205,16 +3207,26 @@ namespace DotRecast.Detour
                         continue;
                     }
 
-                    int ivj = poly.verts[j] * 3;
-                    int ivi = poly.verts[i] * 3;
-                    var seg = new RcSegmentVert();
-                    seg.vmin = RcVec.Create(tile.data.verts, ivj);
-                    seg.vmax = RcVec.Create(tile.data.verts, ivi);
-                    // RcArrays.Copy(tile.data.verts, ivj, seg, 0, 3);
-                    // RcArrays.Copy(tile.data.verts, ivi, seg, 3, 3);
-                    segmentVerts.Add(seg);
-                    segmentRefs.Add(neiRef);
-                    n++;
+                    if (n < maxSegments)
+                    {
+                        int ivj = poly.verts[j] * 3;
+                        int ivi = poly.verts[i] * 3;
+                        var seg = new RcSegmentVert();
+                        seg.vmin = RcVec.Create(tile.data.verts, ivj);
+                        seg.vmax = RcVec.Create(tile.data.verts, ivi);
+                        segmentVerts[n] = seg;
+                        if (null != segmentRefs)
+                        {
+                            segmentRefs[n] = neiRef;
+                        }
+
+                        n++;
+                    }
+                    else
+                    {
+                        status |= DtStatus.DT_BUFFER_TOO_SMALL;
+                    }
+
                     continue;
                 }
 
@@ -3232,12 +3244,25 @@ namespace DotRecast.Detour
                     {
                         float tmin = ints[k].tmin / 255.0f;
                         float tmax = ints[k].tmax / 255.0f;
-                        var seg = new RcSegmentVert();
-                        seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
-                        seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
-                        segmentVerts.Add(seg);
-                        segmentRefs.Add(ints[k].refs);
-                        n++;
+
+                        if (n < maxSegments)
+                        {
+                            var seg = new RcSegmentVert();
+                            seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
+                            seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
+                            segmentVerts[n] = seg;
+
+                            if (null != segmentRefs)
+                            {
+                                segmentRefs[n] = ints[k].refs;
+                            }
+
+                            n++;
+                        }
+                        else
+                        {
+                            status |= DtStatus.DT_BUFFER_TOO_SMALL;
+                        }
                     }
 
                     // Wall segment.
@@ -3247,16 +3272,31 @@ namespace DotRecast.Detour
                     {
                         float tmin = imin / 255.0f;
                         float tmax = imax / 255.0f;
-                        var seg = new RcSegmentVert();
-                        seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
-                        seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
-                        segmentVerts.Add(seg);
-                        segmentRefs.Add(0L);
-                        n++;
+
+                        if (n < maxSegments)
+                        {
+                            var seg = new RcSegmentVert();
+                            seg.vmin = RcVec.Lerp(tile.data.verts, vj, vi, tmin);
+                            seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
+                            segmentVerts[n] = seg;
+
+                            if (null != segmentRefs)
+                            {
+                                segmentRefs[n] = 0;
+                            }
+
+                            n++;
+                        }
+                        else
+                        {
+                            status |= DtStatus.DT_BUFFER_TOO_SMALL;
+                        }
                     }
                 }
             }
 
+            segmentCount = n;
+
             return status;
         }
 
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
index 5d78eda..7b4d364 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
@@ -472,8 +472,9 @@ public class TestNavmeshSampleTool : ISampleTool
         {
             if (m_polys != null)
             {
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+                Span<long> refs = stackalloc long[MAX_SEGS];
 
                 for (int i = 0; i < m_polys.Count; i++)
                 {
@@ -491,18 +492,20 @@ public class TestNavmeshSampleTool : ISampleTool
                     dd.DepthMask(true);
                     if (_sample.GetNavMeshQuery() != null)
                     {
+                        int nsegs = 0;
                         var result = _sample
                             .GetNavMeshQuery()
-                            .GetPolyWallSegments(m_polys[i], false, m_filter, ref segmentVerts, ref segmentRefs);
+                            .GetPolyWallSegments(m_polys[i], m_filter, segs, refs, ref nsegs, MAX_SEGS);
 
                         if (result.Succeeded())
                         {
                             dd.Begin(LINES, 2.0f);
-                            for (int j = 0; j < segmentVerts.Count; ++j)
+                            for (int j = 0; j < nsegs; ++j)
                             {
-                                RcSegmentVert s = segmentVerts[j];
+                                ref RcSegmentVert s = ref segs[j];
                                 var v0 = s.vmin;
                                 var s3 = s.vmax;
+                                
                                 // Skip too distant segments.
                                 var distSqr = DtUtils.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
                                 if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
@@ -515,8 +518,9 @@ public class TestNavmeshSampleTool : ISampleTool
                                 RcVec3f norm = new RcVec3f(delta.Z, 0, -delta.X);
                                 norm = RcVec3f.Normalize(norm);
                                 RcVec3f p1 = RcVec.Mad(p0, norm, agentRadius * 0.5f);
+                                
                                 // Skip backfacing segments.
-                                if (segmentRefs[j] != 0)
+                                if (refs[j] != 0)
                                 {
                                     int col = DuRGBA(255, 255, 255, 32);
                                     dd.Vertex(s.vmin.X, s.vmin.Y + agentClimb, s.vmin.Z, col);
diff --git a/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
index c24b405..d5b3873 100644
--- a/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
+++ b/test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs
@@ -17,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class GetPolyWallSegmentsTest : AbstractDetourTest
 {
     private static readonly RcSegmentVert[][] VERTICES =
@@ -83,28 +83,30 @@ public class GetPolyWallSegmentsTest : AbstractDetourTest
     [Test]
     public void TestFindDistanceToWall()
     {
-        var segmentVerts = new List<RcSegmentVert>();
-        var segmentRefs = new List<long>();
+        const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+        Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+        Span<long> refs = stackalloc long[MAX_SEGS];
+        int nsegs = 0;
 
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         for (int i = 0; i < startRefs.Length; i++)
         {
-            var result = query.GetPolyWallSegments(startRefs[i], true, filter, ref segmentVerts, ref segmentRefs);
-            Assert.That(segmentVerts.Count, Is.EqualTo(VERTICES[i].Length));
-            Assert.That(segmentRefs.Count, Is.EqualTo(REFS[i].Length));
+            var result = query.GetPolyWallSegments(startRefs[i], filter, segs, refs, ref nsegs, MAX_SEGS);
+            Assert.That(nsegs, Is.EqualTo(VERTICES[i].Length));
+            Assert.That(nsegs, Is.EqualTo(REFS[i].Length));
             for (int v = 0; v < VERTICES[i].Length / 6; v++)
             {
-                Assert.That(segmentVerts[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
+                Assert.That(segs[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
+                Assert.That(segs[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
+                Assert.That(segs[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
+                Assert.That(segs[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
+                Assert.That(segs[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
+                Assert.That(segs[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
             }
 
             for (int v = 0; v < REFS[i].Length; v++)
             {
-                Assert.That(segmentRefs[v], Is.EqualTo(REFS[i][v]));
+                Assert.That(refs[v], Is.EqualTo(REFS[i][v]));
             }
         }
     }

From a87f34e7381df7b4f3a18c6847ba5f3b6c341d0e Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 17 Jul 2024 23:48:11 +0900
Subject: [PATCH 110/147] update comment

---
 src/DotRecast.Recast/RcSpan.cs | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/src/DotRecast.Recast/RcSpan.cs b/src/DotRecast.Recast/RcSpan.cs
index 814d686..9748cd4 100644
--- a/src/DotRecast.Recast/RcSpan.cs
+++ b/src/DotRecast.Recast/RcSpan.cs
@@ -20,19 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a span in a heightfield. */
+    /// Represents a span in a heightfield.
+    /// @see rcHeightfield
     public class RcSpan
     {
-        /** The lower limit of the span. [Limit: &lt; smax] */
-        public int smin;
-
-        /** The upper limit of the span. [Limit: &lt;= SPAN_MAX_HEIGHT] */
-        public int smax;
-
-        /** The area id assigned to the span. */
-        public int area;
-
-        /** The next span higher up in column. */
-        public RcSpan next;
+        public int smin; //< The lower limit of the span. [Limit: < #smax]
+        public int smax; //< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+        public int area; //< The area id assigned to the span.
+        public RcSpan next; //< The next span higher up in column.
     }
 }
\ No newline at end of file

From bc7818a1c581c3d2cbab562fb55fb29cc32d9ecb Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 18 Jul 2024 20:04:54 +0900
Subject: [PATCH 111/147] [Upstream] fix: Fix raycast shortcuts (@Sarofc)

Raycast is performed in 2d and it might report reaching the given position even if the Y coordinate is different than the target. Therefore, it is necessary to check what poly is actually hit by raycast before taking a shortcut.

- https://github.com/recast4j/recast4j/issues/196
- https://github.com/recast4j/recast4j/pull/197
- https://github.com/ikpil/DotRecast/issues/72
---
 CHANGELOG.md                                            | 2 +-
 src/DotRecast.Detour/DtNavMeshQuery.cs                  | 6 +++---
 src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9216655..cf89ff3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Nothing
 
 ### Fixed
-- Nothing
+- Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 4d186ba..0a83738 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -980,7 +980,7 @@ namespace DotRecast.Detour
                             DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
                         if (rayStatus.Succeeded())
                         {
-                            foundShortCut = rayHit.t >= 1.0f;
+                            foundShortCut = rayHit.t >= 1.0f && rayHit.path[^1] == neighbourRef;
                             if (foundShortCut)
                             {
                                 shortcut = new List<long>(rayHit.path);
@@ -1296,7 +1296,7 @@ namespace DotRecast.Detour
                             DtRaycastOptions.DT_RAYCAST_USE_COSTS, ref rayHit, grandpaRef);
                         if (status.Succeeded())
                         {
-                            foundShortCut = rayHit.t >= 1.0f;
+                            foundShortCut = rayHit.t >= 1.0f && rayHit.path[^1] == neighbourRef;
                             if (foundShortCut)
                             {
                                 shortcut = new List<long>(rayHit.path);
@@ -3143,7 +3143,7 @@ namespace DotRecast.Detour
             int maxSegments)
         {
             segmentCount = 0;
-            
+
             DtStatus status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
             if (status.Failed())
             {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 2375bf6..150a1d7 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -272,7 +272,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // results ...
             polys = path;
 
-            if (t > 1)
+            if (t >= 1)
             {
                 // No hit
                 hitPos = endPos;

From 8ba8c04895daffd4878e2da4facc6e2415eb44aa Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 25 Jul 2024 23:16:19 +0900
Subject: [PATCH 112/147] update serilog 4.0.1

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 200966b..451c1e7 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="4.0.0" />
+    <PackageReference Include="Serilog" Version="4.0.1" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.2" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />

From 7ffda46c2f59755c97c9fa82b398172dda0d8235 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 26 Jul 2024 22:10:17 +0900
Subject: [PATCH 113/147] NUnit3TestAdapter 4.6.0

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index cf68628..84b244d 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index dbbdf15..dfe93df 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index e242435..4579f09 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 9ba85dd..c9446ae 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index ed58dfc..e8fb66b 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 5297504..56d3b4a 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index 5f7e20e..09ddd22 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -10,7 +10,7 @@
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>

From ab04256cdffcc6582056670f79347f30aa36d816 Mon Sep 17 00:00:00 2001
From: Sarofc <sarono@foxmail.com>
Date: Sat, 6 Jul 2024 20:44:49 +0800
Subject: [PATCH 114/147] Update ModernOpenGLDraw.cs

(cherry picked from commit 6fb44cc3ce47be2c724d6093ef4b3168aacf9480)
---
 src/DotRecast.Recast.Demo/Draw/ArrayBuffer.cs |  20 +--
 src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs |   1 +
 .../Draw/ModernOpenGLDraw.cs                  | 145 +++++++++---------
 3 files changed, 81 insertions(+), 85 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Draw/ArrayBuffer.cs b/src/DotRecast.Recast.Demo/Draw/ArrayBuffer.cs
index 3002693..59ad39f 100644
--- a/src/DotRecast.Recast.Demo/Draw/ArrayBuffer.cs
+++ b/src/DotRecast.Recast.Demo/Draw/ArrayBuffer.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Draw;
@@ -9,19 +9,19 @@ public class ArrayBuffer<T>
     private T[] _items;
     public int Count => _size;
 
-    public ArrayBuffer()
+    public ArrayBuffer() : this(512) { }
+
+    public ArrayBuffer(int capacity)
     {
+        if (capacity <= 0)
+            throw new ArgumentOutOfRangeException();
+
         _size = 0;
-        _items = Array.Empty<T>();
+        _items = new T[capacity];
     }
 
     public void Add(T item)
     {
-        if (0 >= _items.Length)
-        {
-            _items = new T[256];
-        }
-
         if (_items.Length <= _size)
         {
             var temp = new T[(int)(_size * 1.5)];
@@ -37,8 +37,8 @@ public class ArrayBuffer<T>
         _size = 0;
     }
 
-    public T[] AsArray()
+    public Span<T> AsArray()
     {
-        return _items;
+        return _items.AsSpan(0, _size);
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs b/src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs
index 0558c41..8086962 100644
--- a/src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/IOpenGLDraw.cs
@@ -1,3 +1,4 @@
+using System.Numerics;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Draw;
diff --git a/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs b/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs
index 8ca2ed6..d850f9e 100644
--- a/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs
@@ -1,10 +1,11 @@
 using System;
-using System.IO;
 using Silk.NET.OpenGL;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+// TODO use a lot of Memory, 2GB+
+
 public class ModernOpenGLDraw : IOpenGLDraw
 {
     private GL _gl;
@@ -19,8 +20,8 @@ public class ModernOpenGLDraw : IOpenGLDraw
     private float fogEnd;
     private bool fogEnabled;
     private int uniformViewMatrix;
-    private readonly ArrayBuffer<OpenGLVertex> vertices = new();
-    private readonly ArrayBuffer<int> elements = new();
+    private readonly ArrayBuffer<OpenGLVertex> vertices = new(512);
+    private readonly ArrayBuffer<int> elements = new(512);
     private GLCheckerTexture _texture;
     private readonly float[] _viewMatrix = new float[16];
     private readonly float[] _projectionMatrix = new float[16];
@@ -36,36 +37,42 @@ public class ModernOpenGLDraw : IOpenGLDraw
 
     public unsafe void Init()
     {
-        string SHADER_VERSION = "#version 400\n";
-        string vertex_shader = SHADER_VERSION + "uniform mat4 ProjMtx;\n" //
-                                              + "uniform mat4 ViewMtx;\n" //
-                                              + "in vec3 Position;\n" //
-                                              + "in vec2 TexCoord;\n" //
-                                              + "in vec4 Color;\n" //
-                                              + "out vec2 Frag_UV;\n" //
-                                              + "out vec4 Frag_Color;\n" //
-                                              + "out float Frag_Depth;\n" //
-                                              + "void main() {\n" //
-                                              + "   Frag_UV = TexCoord;\n" //
-                                              + "   Frag_Color = Color;\n" //
-                                              + "   vec4 VSPosition = ViewMtx * vec4(Position, 1);\n" //
-                                              + "   Frag_Depth = -VSPosition.z;\n" //
-                                              + "   gl_Position = ProjMtx * VSPosition;\n" //
-                                              + "}\n";
-        string fragment_shader = SHADER_VERSION + "precision mediump float;\n" //
-                                                + "uniform sampler2D Texture;\n" //
-                                                + "uniform float UseTexture;\n" //
-                                                + "uniform float EnableFog;\n" //
-                                                + "uniform float FogStart;\n" //
-                                                + "uniform float FogEnd;\n" //
-                                                + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n" //
-                                                + "in vec2 Frag_UV;\n" //
-                                                + "in vec4 Frag_Color;\n" //
-                                                + "in float Frag_Depth;\n" //
-                                                + "out vec4 Out_Color;\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" //
-                                                + "}\n";
+        const string SHADER_VERSION = "#version 400\n";
+        const string vertex_shader = $@"
+{SHADER_VERSION}
+uniform mat4 ProjMtx;
+uniform mat4 ViewMtx;
+in vec3 Position;
+in vec2 TexCoord;
+in vec4 Color;
+out vec2 Frag_UV;
+out vec4 Frag_Color;
+out float Frag_Depth;
+void main() {{
+   Frag_UV = TexCoord;
+   Frag_Color = Color;
+   vec4 VSPosition = ViewMtx * vec4(Position, 1);
+   Frag_Depth = -VSPosition.z;
+   gl_Position = ProjMtx * VSPosition;
+}}
+";
+        const string fragment_shader = $@"
+{SHADER_VERSION}
+precision mediump float;
+uniform sampler2D Texture;
+uniform float UseTexture;
+uniform float EnableFog;
+uniform float FogStart;
+uniform float FogEnd;
+const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);
+in vec2 Frag_UV;
+in vec4 Frag_Color;
+in float Frag_Depth;
+out vec4 Out_Color;
+void main(){{
+   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) );
+}}
+";
 
         program = _gl.CreateProgram();
         uint vert_shdr = _gl.CreateShader(GLEnum.VertexShader);
@@ -150,6 +157,10 @@ public class ModernOpenGLDraw : IOpenGLDraw
         _gl.BindVertexArray(0);
         _gl.BindBuffer(GLEnum.ArrayBuffer, 0);
         _gl.BindBuffer(GLEnum.ElementArrayBuffer, 0);
+
+        //int* range = stackalloc int[2];
+        //_gl.GetInteger(GetPName.LineWidthRange, range);
+        //Console.WriteLine($"\nLineWidthRange: {range[0]} {range[1]}");
     }
 
     public void Clear()
@@ -191,53 +202,30 @@ public class ModernOpenGLDraw : IOpenGLDraw
         // GlBufferData(GL_ARRAY_BUFFER, MAX_VERTEX_BUFFER, GL_STREAM_DRAW);
         // GlBufferData(GL_ELEMENT_ARRAY_BUFFER, MAX_ELEMENT_BUFFER, GL_STREAM_DRAW);
 
-        uint vboSize = (uint)vertices.Count * 24;
-        uint eboSize = currentPrim == DebugDrawPrimitives.QUADS ? (uint)vertices.Count * 6 : (uint)vertices.Count * 4;
-
-        _gl.BufferData(GLEnum.ArrayBuffer, vboSize, null, GLEnum.StreamDraw);
-        _gl.BufferData(GLEnum.ElementArrayBuffer, eboSize, null, GLEnum.StreamDraw);
-        // load draw vertices & elements directly into vertex + element buffer
+        _gl.BufferData<OpenGLVertex>(GLEnum.ArrayBuffer, vertices.AsArray(), GLEnum.DynamicDraw);
 
+        if (currentPrim == DebugDrawPrimitives.QUADS)
         {
-            byte* pVerts = (byte*)_gl.MapBuffer(GLEnum.ArrayBuffer, GLEnum.WriteOnly);
-            byte* pElems = (byte*)_gl.MapBuffer(GLEnum.ElementArrayBuffer, GLEnum.WriteOnly);
-
-            //vertices.ForEach(v => v.Store(verts));
-            fixed (void* v = vertices.AsArray())
+            for (int i = 0; i < vertices.Count; i += 4)
             {
-                System.Buffer.MemoryCopy(v, pVerts, vboSize, vboSize);
+                elements.Add(i);
+                elements.Add(i + 1);
+                elements.Add(i + 2);
+                elements.Add(i);
+                elements.Add(i + 2);
+                elements.Add(i + 3);
             }
-
-            if (currentPrim == DebugDrawPrimitives.QUADS)
-            {
-                using var unmanagedElems = new UnmanagedMemoryStream(pElems, eboSize, eboSize, FileAccess.Write);
-                using var bw = new BinaryWriter(unmanagedElems);
-                for (int i = 0; i < vertices.Count; i += 4)
-                {
-                    bw.Write(i);
-                    bw.Write(i + 1);
-                    bw.Write(i + 2);
-                    bw.Write(i);
-                    bw.Write(i + 2);
-                    bw.Write(i + 3);
-                }
-            }
-            else
-            {
-                for (int i = elements.Count; i < vertices.Count; i++)
-                {
-                    elements.Add(i);
-                }
-
-                fixed (void* e = elements.AsArray())
-                {
-                    System.Buffer.MemoryCopy(e, pElems, eboSize, eboSize);
-                }
-            }
-
-            _gl.UnmapBuffer(GLEnum.ElementArrayBuffer);
-            _gl.UnmapBuffer(GLEnum.ArrayBuffer);
         }
+        else
+        {
+            for (int i = elements.Count; i < vertices.Count; i++)
+            {
+                elements.Add(i);
+            }
+        }
+
+        _gl.BufferData<int>(GLEnum.ElementArrayBuffer, elements.AsArray(), GLEnum.DynamicDraw);
+
         if (_texture != null)
         {
             _texture.Bind();
@@ -271,15 +259,22 @@ public class ModernOpenGLDraw : IOpenGLDraw
         _gl.BindBuffer(GLEnum.ArrayBuffer, 0);
         _gl.BindBuffer(GLEnum.ElementArrayBuffer, 0);
         vertices.Clear();
+        elements.Clear();
         _gl.LineWidth(1.0f);
         _gl.PointSize(1.0f);
     }
 
+
     public void Vertex(float x, float y, float z, int color)
     {
         vertices.Add(new OpenGLVertex(x, y, z, color));
     }
 
+    public unsafe void Vertex(float* pos, int color)
+    {
+        vertices.Add(new OpenGLVertex(pos[0], pos[1], pos[2], color));
+    }
+
     public void Vertex(float[] pos, int color)
     {
         vertices.Add(new OpenGLVertex(pos, color));

From 5aeb1e465c1c56cce112d8526e5c4fc1252778ca Mon Sep 17 00:00:00 2001
From: Sarofc <sarono@foxmail.com>
Date: Sat, 6 Jul 2024 22:11:45 +0800
Subject: [PATCH 115/147] add benchmark

---
 DotRecast.sln                                 |   7 +
 .../DotRecast.Benchmark/Bench_Math_RcVec3f.cs |  67 +++++++
 .../Bench_PriorityQueue.cs                    | 164 ++++++++++++++++++
 .../DotRecast.Benchmark.csproj                |  18 ++
 test/DotRecast.Benchmark/Program.cs           |   7 +
 5 files changed, 263 insertions(+)
 create mode 100644 test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
 create mode 100644 test/DotRecast.Benchmark/Bench_PriorityQueue.cs
 create mode 100644 test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
 create mode 100644 test/DotRecast.Benchmark/Program.cs

diff --git a/DotRecast.sln b/DotRecast.sln
index 8130233..5a437de 100644
--- a/DotRecast.sln
+++ b/DotRecast.sln
@@ -39,6 +39,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Extras.Tes
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.TileCache.Test", "test\DotRecast.Detour.TileCache.Test\DotRecast.Detour.TileCache.Test.csproj", "{3CAA7306-088E-4373-A406-99755CC2B605}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Benchmark", "test\DotRecast.Benchmark\DotRecast.Benchmark.csproj", "{D1EFC625-D095-4208-98A2-112B73CB40B0}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -112,6 +114,10 @@ Global
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
 		{FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
@@ -130,5 +136,6 @@ Global
 		{023E1E6A-4895-4573-89AE-3D5D8E0B39C8} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{DF987948-8C23-4337-AF83-D87D6407518D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{D1EFC625-D095-4208-98A2-112B73CB40B0} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 	EndGlobalSection
 EndGlobal
diff --git a/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs b/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
new file mode 100644
index 0000000..179b2cc
--- /dev/null
+++ b/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
@@ -0,0 +1,67 @@
+using System.Numerics;
+using System.Runtime.Intrinsics;
+using BenchmarkDotNet.Attributes;
+using BenchmarkDotNet.Engines;
+using DotRecast.Core.Numerics;
+
+namespace CSharpBencchmark
+{
+    /*
+    */
+    public class Bench_Math_RcVec3f
+    {
+        Consumer _consumer = new();
+
+        [Benchmark]
+        public void Dot_Vector3()
+        {
+            var v1 = new Vector3(1, 2, 3);
+            var v2 = new Vector3(1, 2, 3);
+            var v = Vector3.Dot(v1, v2);
+            _consumer.Consume(v);
+        }
+
+        [Benchmark]
+        public void Dot_RcVec3f()
+        {
+            var v1 = new RcVec3f(1, 2, 3);
+            var v2 = new RcVec3f(1, 2, 3);
+            var v = RcVec3f.Dot(v1, v2);
+            _consumer.Consume(v);
+        }
+
+        [Benchmark]
+        public void Cross_Vector3()
+        {
+            var v1 = new Vector3(1, 2, 3);
+            var v2 = new Vector3(1, 2, 3);
+            var v = Vector3.Cross(v1, v2);
+            _consumer.Consume(v);
+        }
+
+        [Benchmark]
+        public void Cross_RcVec3f()
+        {
+            var v1 = new RcVec3f(1, 2, 3);
+            var v2 = new RcVec3f(1, 2, 3);
+            var v = RcVec3f.Cross(v1, v2);
+            _consumer.Consume(v);
+        }
+
+        [Benchmark]
+        public void Normalize_Vector3()
+        {
+            var v1 = new Vector3(1, 2, 3);
+            var v = Vector3.Normalize(v1);
+            _consumer.Consume(v);
+        }
+
+        [Benchmark]
+        public void Normalize_RcVec3f()
+        {
+            var v1 = new RcVec3f(1, 2, 3);
+            var v = RcVec3f.Normalize(v1);
+            _consumer.Consume(v);
+        }
+    }
+}
diff --git a/test/DotRecast.Benchmark/Bench_PriorityQueue.cs b/test/DotRecast.Benchmark/Bench_PriorityQueue.cs
new file mode 100644
index 0000000..0dd9546
--- /dev/null
+++ b/test/DotRecast.Benchmark/Bench_PriorityQueue.cs
@@ -0,0 +1,164 @@
+using BenchmarkDotNet.Attributes;
+using DotRecast.Core.Collections;
+
+namespace CSharpBencchmark
+{
+    /*
+
+| Method          | Count | Mean          | Error        | StdDev       |
+|---------------- |------ |--------------:|-------------:|-------------:|
+| Enqueue_rcQueue | 10    |      84.19 ns |     1.328 ns |     1.242 ns |
+| Enqueue_heap    | 10    |     208.44 ns |     3.522 ns |     5.981 ns |
+| Enqueue_pqueue  | 10    |     202.59 ns |     2.320 ns |     2.170 ns |
+| Enqueue_rcQueue | 100   |     791.99 ns |    15.733 ns |    43.333 ns |
+| Enqueue_heap    | 100   |   3,136.11 ns |    57.433 ns |    50.912 ns |
+| Enqueue_pqueue  | 100   |   2,256.86 ns |    19.259 ns |    17.073 ns |
+| Enqueue_rcQueue | 1000  |   7,258.35 ns |    55.554 ns |    49.247 ns |
+| Enqueue_heap    | 1000  |  31,613.03 ns |   602.311 ns |   591.550 ns |
+| Enqueue_pqueue  | 1000  |  24,313.61 ns |   463.713 ns |   455.429 ns |
+| Enqueue_rcQueue | 10000 |  98,246.69 ns | 1,824.495 ns | 1,706.634 ns |
+| Enqueue_heap    | 10000 | 356,910.42 ns | 3,376.793 ns | 2,993.439 ns |
+| Enqueue_pqueue  | 10000 | 278,814.15 ns | 3,733.262 ns | 3,309.439 ns |
+
+    */
+
+    public class Bench_PriorityQueue
+    {
+        [Params(10, 100, 1000, 10000)]
+        public int Count;
+
+        RcSortedQueue<Node> _rcQueue;
+        //TBinaryHeap<Node> _heap;
+        PriorityQueue<Node, Node> _pqueue;
+
+        float[] _priority;
+
+        class Node
+        {
+            public int id;
+            public float total;
+        }
+
+        [GlobalSetup]
+        public void Setup()
+        {
+            Comparison<Node> _comparison = (x, y) =>
+            {
+                var v = x.total.CompareTo(y.total);
+                if (v != 0)
+                    return v;
+                return x.id.CompareTo(y.id);
+            };
+
+            _rcQueue = new(Count, _comparison);
+            //_heap = new(Count, _comparison);
+            _pqueue = new(Count, Comparer<Node>.Create(_comparison));
+
+            _priority = new float[Count];
+            for (int i = 0; i < Count; i++)
+            {
+                _priority[i] = (float)Random.Shared.NextDouble() * 100f;
+            }
+
+            Console.WriteLine("111");
+        }
+
+        [Benchmark]
+        public void Enqueue_rcQueue()
+        {
+            _rcQueue.Clear();
+            for (int i = 0; i < Count; i++)
+            {
+                _rcQueue.Enqueue(new Node
+                {
+                    id = i,
+                    total = _priority[i],
+                });
+            }
+        }
+
+        //[Benchmark]
+        //public void Enqueue_heap()
+        //{
+        //    _heap.Clear();
+        //    for (int i = 0; i < Count; i++)
+        //    {
+        //        _heap.Push(new Node
+        //        {
+        //            id = i,
+        //            total = _priority[i],
+        //        });
+        //    }
+        //}
+
+        [Benchmark]
+        public void Enqueue_pqueue()
+        {
+            _pqueue.Clear();
+            for (int i = 0; i < Count; i++)
+            {
+                var node = new Node
+                {
+                    id = i,
+                    total = _priority[i],
+                };
+                _pqueue.Enqueue(node, node);
+            }
+        }
+
+        [Benchmark]
+        public void EnqueueDequeue_rcQueue()
+        {
+            for (int i = 0; i < Count; i++)
+            {
+                _rcQueue.Enqueue(new Node
+                {
+                    id = i,
+                    total = _priority[i],
+                });
+            }
+
+            while (_rcQueue.Count() > 0)
+            {
+                _rcQueue.Dequeue();
+            }
+        }
+
+        //[Benchmark]
+        //public void EnqueueDequeue_heap()
+        //{
+        //    for (int i = 0; i < Count; i++)
+        //    {
+        //        _heap.Push(new Node
+        //        {
+        //            id = i,
+        //            total = _priority[i],
+        //        });
+        //    }
+
+        //    while (_heap.Count > 0)
+        //    {
+        //        _heap.Pop();
+        //    }
+        //}
+
+        [Benchmark]
+        public void EnqueueDequeue_pqueue()
+        {
+            for (int i = 0; i < Count; i++)
+            {
+                var node = new Node
+                {
+                    id = i,
+                    total = _priority[i],
+                };
+                _pqueue.Enqueue(node, node);
+            }
+
+            while (_pqueue.Count > 0)
+            {
+                _pqueue.Dequeue();
+            }
+        }
+    }
+}
diff --git a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
new file mode 100644
index 0000000..0a1d580
--- /dev/null
+++ b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
@@ -0,0 +1,18 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="BenchmarkDotNet" Version="0.13.12" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\src\DotRecast.Core\DotRecast.Core.csproj" />
+  </ItemGroup>
+
+</Project>
diff --git a/test/DotRecast.Benchmark/Program.cs b/test/DotRecast.Benchmark/Program.cs
new file mode 100644
index 0000000..2ca5fc5
--- /dev/null
+++ b/test/DotRecast.Benchmark/Program.cs
@@ -0,0 +1,7 @@
+using BenchmarkDotNet.Running;
+using CSharpBencchmark;
+
+BenchmarkRunner.Run([
+    //BenchmarkConverter.TypeToBenchmarks(typeof(Bench_PriorityQueue)),
+    BenchmarkConverter.TypeToBenchmarks(typeof(Bench_Math_RcVec3f)),
+]);

From c03650187939bd45a136eb84a8282fa72406338e Mon Sep 17 00:00:00 2001
From: Sarofc <sarono@foxmail.com>
Date: Sun, 7 Jul 2024 19:05:35 +0800
Subject: [PATCH 116/147] opt UpdateMoveRequest UpdateTopologyOptimization

# Conflicts:
#	src/DotRecast.Detour.Crowd/DtCrowd.cs

Benchmark

b3

b4
---
 .../Collections/RcBinaryHeap.cs               | 161 ++++++++++++
 src/DotRecast.Recast.Demo/Program.cs          |   1 -
 .../DotRecast.Benchmark/Bench_Math_RcVec3f.cs |  67 -----
 .../Bench_PriorityQueue.cs                    | 164 ------------
 test/DotRecast.Benchmark/BenchmarkProgram.cs  |  18 ++
 .../Benchmarks/PriorityQueueBenchmarks.cs     | 241 ++++++++++++++++++
 .../Benchmarks/StackallocBenchmarks.cs        |  71 ++++++
 .../Benchmarks/VectorBenchmarks.cs            |  73 ++++++
 .../DotRecast.Benchmark.csproj                |   7 +-
 test/DotRecast.Benchmark/Program.cs           |   7 -
 10 files changed, 568 insertions(+), 242 deletions(-)
 create mode 100644 src/DotRecast.Core/Collections/RcBinaryHeap.cs
 delete mode 100644 test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
 delete mode 100644 test/DotRecast.Benchmark/Bench_PriorityQueue.cs
 create mode 100644 test/DotRecast.Benchmark/BenchmarkProgram.cs
 create mode 100644 test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
 create mode 100644 test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs
 create mode 100644 test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs
 delete mode 100644 test/DotRecast.Benchmark/Program.cs

diff --git a/src/DotRecast.Core/Collections/RcBinaryHeap.cs b/src/DotRecast.Core/Collections/RcBinaryHeap.cs
new file mode 100644
index 0000000..5d4ff12
--- /dev/null
+++ b/src/DotRecast.Core/Collections/RcBinaryHeap.cs
@@ -0,0 +1,161 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+using System.Text;
+
+namespace DotRecast.Core.Collections
+{
+    public sealed class RcBinaryHeap<T>
+    {
+        public int Count => _count;
+        public int Capacity => _values.Length;
+
+        public T this[int index] => _values[index];
+
+        private T[] _values;
+        private int _count;
+
+        private Comparison<T> _comparision;
+
+        public RcBinaryHeap(Comparison<T> comparison) : this(8, comparison)
+        {
+        }
+
+        public RcBinaryHeap(int capacity, Comparison<T> comparison)
+        {
+            if (capacity <= 0)
+                throw new ArgumentException("capacity must greater than zero");
+
+            _values = new T[capacity];
+            _comparision = comparison;
+            _count = 0;
+        }
+
+        public void Push(T val)
+        {
+            EnsureCapacity();
+
+            _values[_count++] = val;
+
+            UpHeap(_count - 1);
+        }
+
+        public T Pop()
+        {
+            if (_count == 0)
+            {
+                Throw();
+
+                static void Throw() =>
+                    throw new InvalidOperationException("no element to pop");
+            }
+
+            Swap(0, --_count);
+            DownHeap(1);
+
+            return _values[_count];
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public T Top()
+        {
+            return _values[0];
+        }
+
+        public void Modify(T node)
+        {
+            for (int i = 0; i < _count; i++)
+            {
+                if (_values[i].Equals(node))
+                {
+                    UpHeap(i);
+                    return;
+                }
+            }
+        }
+
+        public void Clear()
+        {
+            Array.Clear(_values, 0, _count);
+            _count = 0;
+        }
+
+        public void FastClear()
+        {
+            _count = 0;
+        }
+
+        public T[] ToArray()
+        {
+            var copy = new T[_count];
+            Array.Copy(_values, copy, _count);
+            return copy;
+        }
+
+        public void ReBuild()
+        {
+            for (int i = _count / 2; i >= 1; i--)
+            {
+                DownHeap(i);
+            }
+        }
+
+        private void EnsureCapacity()
+        {
+            if (_values.Length <= _count)
+            {
+                var newValues = new T[Capacity * 2];
+                Array.Copy(_values, newValues, _count);
+                _values = newValues;
+            }
+        }
+
+        private void UpHeap(int i)
+        {
+            int p = (i - 1) / 2;
+            while (p >= 0)
+            {
+                if (_comparision(_values[p], _values[i]) <= 0)
+                    break;
+
+                Swap(p, i);
+
+                i = p;
+                p = (i - 1) / 2;
+            }
+        }
+
+        private void DownHeap(int i)
+        {
+            T d = _values[i - 1];
+            int child;
+            while (i <= _count / 2)
+            {
+                child = i * 2;
+                if (child < _count && _comparision(_values[child - 1], _values[child]) > 0)
+                    child++;
+
+                if (_comparision(d, _values[child - 1]) <= 0)
+                    break;
+
+                _values[i - 1] = _values[child - 1];
+                i = child;
+            }
+            _values[i - 1] = d;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        private void Swap(int x, int y)
+        {
+            if (x == y)
+                return;
+            (_values[y], _values[x]) = (_values[x], _values[y]);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public bool IsEmpty()
+        {
+            return _count == 0;
+        }
+    }
+}
diff --git a/src/DotRecast.Recast.Demo/Program.cs b/src/DotRecast.Recast.Demo/Program.cs
index c0af359..6789bf2 100644
--- a/src/DotRecast.Recast.Demo/Program.cs
+++ b/src/DotRecast.Recast.Demo/Program.cs
@@ -3,7 +3,6 @@ using System.Threading;
 using DotRecast.Core;
 using DotRecast.Recast.Demo.Logging.Sinks;
 using Serilog;
-using Serilog.Enrichers;
 
 namespace DotRecast.Recast.Demo;
 
diff --git a/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs b/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
deleted file mode 100644
index 179b2cc..0000000
--- a/test/DotRecast.Benchmark/Bench_Math_RcVec3f.cs
+++ /dev/null
@@ -1,67 +0,0 @@
-using System.Numerics;
-using System.Runtime.Intrinsics;
-using BenchmarkDotNet.Attributes;
-using BenchmarkDotNet.Engines;
-using DotRecast.Core.Numerics;
-
-namespace CSharpBencchmark
-{
-    /*
-    */
-    public class Bench_Math_RcVec3f
-    {
-        Consumer _consumer = new();
-
-        [Benchmark]
-        public void Dot_Vector3()
-        {
-            var v1 = new Vector3(1, 2, 3);
-            var v2 = new Vector3(1, 2, 3);
-            var v = Vector3.Dot(v1, v2);
-            _consumer.Consume(v);
-        }
-
-        [Benchmark]
-        public void Dot_RcVec3f()
-        {
-            var v1 = new RcVec3f(1, 2, 3);
-            var v2 = new RcVec3f(1, 2, 3);
-            var v = RcVec3f.Dot(v1, v2);
-            _consumer.Consume(v);
-        }
-
-        [Benchmark]
-        public void Cross_Vector3()
-        {
-            var v1 = new Vector3(1, 2, 3);
-            var v2 = new Vector3(1, 2, 3);
-            var v = Vector3.Cross(v1, v2);
-            _consumer.Consume(v);
-        }
-
-        [Benchmark]
-        public void Cross_RcVec3f()
-        {
-            var v1 = new RcVec3f(1, 2, 3);
-            var v2 = new RcVec3f(1, 2, 3);
-            var v = RcVec3f.Cross(v1, v2);
-            _consumer.Consume(v);
-        }
-
-        [Benchmark]
-        public void Normalize_Vector3()
-        {
-            var v1 = new Vector3(1, 2, 3);
-            var v = Vector3.Normalize(v1);
-            _consumer.Consume(v);
-        }
-
-        [Benchmark]
-        public void Normalize_RcVec3f()
-        {
-            var v1 = new RcVec3f(1, 2, 3);
-            var v = RcVec3f.Normalize(v1);
-            _consumer.Consume(v);
-        }
-    }
-}
diff --git a/test/DotRecast.Benchmark/Bench_PriorityQueue.cs b/test/DotRecast.Benchmark/Bench_PriorityQueue.cs
deleted file mode 100644
index 0dd9546..0000000
--- a/test/DotRecast.Benchmark/Bench_PriorityQueue.cs
+++ /dev/null
@@ -1,164 +0,0 @@
-using BenchmarkDotNet.Attributes;
-using DotRecast.Core.Collections;
-
-namespace CSharpBencchmark
-{
-    /*
-
-| Method          | Count | Mean          | Error        | StdDev       |
-|---------------- |------ |--------------:|-------------:|-------------:|
-| Enqueue_rcQueue | 10    |      84.19 ns |     1.328 ns |     1.242 ns |
-| Enqueue_heap    | 10    |     208.44 ns |     3.522 ns |     5.981 ns |
-| Enqueue_pqueue  | 10    |     202.59 ns |     2.320 ns |     2.170 ns |
-| Enqueue_rcQueue | 100   |     791.99 ns |    15.733 ns |    43.333 ns |
-| Enqueue_heap    | 100   |   3,136.11 ns |    57.433 ns |    50.912 ns |
-| Enqueue_pqueue  | 100   |   2,256.86 ns |    19.259 ns |    17.073 ns |
-| Enqueue_rcQueue | 1000  |   7,258.35 ns |    55.554 ns |    49.247 ns |
-| Enqueue_heap    | 1000  |  31,613.03 ns |   602.311 ns |   591.550 ns |
-| Enqueue_pqueue  | 1000  |  24,313.61 ns |   463.713 ns |   455.429 ns |
-| Enqueue_rcQueue | 10000 |  98,246.69 ns | 1,824.495 ns | 1,706.634 ns |
-| Enqueue_heap    | 10000 | 356,910.42 ns | 3,376.793 ns | 2,993.439 ns |
-| Enqueue_pqueue  | 10000 | 278,814.15 ns | 3,733.262 ns | 3,309.439 ns |
-
-    */
-
-    public class Bench_PriorityQueue
-    {
-        [Params(10, 100, 1000, 10000)]
-        public int Count;
-
-        RcSortedQueue<Node> _rcQueue;
-        //TBinaryHeap<Node> _heap;
-        PriorityQueue<Node, Node> _pqueue;
-
-        float[] _priority;
-
-        class Node
-        {
-            public int id;
-            public float total;
-        }
-
-        [GlobalSetup]
-        public void Setup()
-        {
-            Comparison<Node> _comparison = (x, y) =>
-            {
-                var v = x.total.CompareTo(y.total);
-                if (v != 0)
-                    return v;
-                return x.id.CompareTo(y.id);
-            };
-
-            _rcQueue = new(Count, _comparison);
-            //_heap = new(Count, _comparison);
-            _pqueue = new(Count, Comparer<Node>.Create(_comparison));
-
-            _priority = new float[Count];
-            for (int i = 0; i < Count; i++)
-            {
-                _priority[i] = (float)Random.Shared.NextDouble() * 100f;
-            }
-
-            Console.WriteLine("111");
-        }
-
-        [Benchmark]
-        public void Enqueue_rcQueue()
-        {
-            _rcQueue.Clear();
-            for (int i = 0; i < Count; i++)
-            {
-                _rcQueue.Enqueue(new Node
-                {
-                    id = i,
-                    total = _priority[i],
-                });
-            }
-        }
-
-        //[Benchmark]
-        //public void Enqueue_heap()
-        //{
-        //    _heap.Clear();
-        //    for (int i = 0; i < Count; i++)
-        //    {
-        //        _heap.Push(new Node
-        //        {
-        //            id = i,
-        //            total = _priority[i],
-        //        });
-        //    }
-        //}
-
-        [Benchmark]
-        public void Enqueue_pqueue()
-        {
-            _pqueue.Clear();
-            for (int i = 0; i < Count; i++)
-            {
-                var node = new Node
-                {
-                    id = i,
-                    total = _priority[i],
-                };
-                _pqueue.Enqueue(node, node);
-            }
-        }
-
-        [Benchmark]
-        public void EnqueueDequeue_rcQueue()
-        {
-            for (int i = 0; i < Count; i++)
-            {
-                _rcQueue.Enqueue(new Node
-                {
-                    id = i,
-                    total = _priority[i],
-                });
-            }
-
-            while (_rcQueue.Count() > 0)
-            {
-                _rcQueue.Dequeue();
-            }
-        }
-
-        //[Benchmark]
-        //public void EnqueueDequeue_heap()
-        //{
-        //    for (int i = 0; i < Count; i++)
-        //    {
-        //        _heap.Push(new Node
-        //        {
-        //            id = i,
-        //            total = _priority[i],
-        //        });
-        //    }
-
-        //    while (_heap.Count > 0)
-        //    {
-        //        _heap.Pop();
-        //    }
-        //}
-
-        [Benchmark]
-        public void EnqueueDequeue_pqueue()
-        {
-            for (int i = 0; i < Count; i++)
-            {
-                var node = new Node
-                {
-                    id = i,
-                    total = _priority[i],
-                };
-                _pqueue.Enqueue(node, node);
-            }
-
-            while (_pqueue.Count > 0)
-            {
-                _pqueue.Dequeue();
-            }
-        }
-    }
-}
diff --git a/test/DotRecast.Benchmark/BenchmarkProgram.cs b/test/DotRecast.Benchmark/BenchmarkProgram.cs
new file mode 100644
index 0000000..47b3601
--- /dev/null
+++ b/test/DotRecast.Benchmark/BenchmarkProgram.cs
@@ -0,0 +1,18 @@
+using BenchmarkDotNet.Running;
+using DotRecast.Benchmark.Benchmarks;
+
+namespace DotRecast.Benchmark;
+
+public static class BenchmarkProgram
+{
+    public static int Main(string[] args)
+    {
+        var summary = BenchmarkRunner.Run([
+            //BenchmarkConverter.TypeToBenchmarks(typeof(VectorBenchmarks)),
+            //BenchmarkConverter.TypeToBenchmarks(typeof(PriorityQueueBenchmarks)),
+            BenchmarkConverter.TypeToBenchmarks(typeof(StackallocBenchmarks)),
+        ]);
+
+        return 0;
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
new file mode 100644
index 0000000..f44b8bd
--- /dev/null
+++ b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
@@ -0,0 +1,241 @@
+using System;
+using System.Collections.Generic;
+using BenchmarkDotNet.Attributes;
+using DotRecast.Core.Collections;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+
+| Method                 | Count     |             Mean |            Error |           StdDev |           Median |
+| ---------------------- | --------- | ---------------: | ---------------: | ---------------: | ---------------: |
+| **Enqueue_rcQueue**    | **10**    |     **83.81 ns** |     **1.722 ns** |     **2.925 ns** |     **83.00 ns** |
+| Enqueue_heap           | 10        |        173.27 ns |         3.431 ns |         3.813 ns |        172.40 ns |
+| Enqueue_pqueue         | 10        |        151.13 ns |         3.045 ns |         3.625 ns |        151.81 ns |
+| DequeueAll_rcQueue     | 10        |        293.28 ns |         5.368 ns |         5.021 ns |        293.56 ns |
+| DequeueAll_heap        | 10        |        409.89 ns |         4.982 ns |         4.416 ns |        410.04 ns |
+| DequeueAll_pqueue      | 10        |        448.56 ns |         4.490 ns |         3.980 ns |        448.17 ns |
+| EnqueueDequeue_rcQueue | 10        |        116.73 ns |         0.126 ns |         0.105 ns |        116.72 ns |
+| EnqueueDequeue_heap    | 10        |        130.94 ns |         0.936 ns |         0.781 ns |        130.80 ns |
+| EnqueueDequeue_pqueue  | 10        |        101.39 ns |         0.589 ns |         0.551 ns |        101.14 ns |
+| **Enqueue_rcQueue**    | **100**   |    **690.10 ns** |     **1.463 ns** |     **1.297 ns** |    **689.74 ns** |
+| Enqueue_heap           | 100       |      2,517.08 ns |         8.466 ns |         7.070 ns |      2,515.99 ns |
+| Enqueue_pqueue         | 100       |      2,188.55 ns |        26.386 ns |        24.682 ns |      2,193.53 ns |
+| DequeueAll_rcQueue     | 100       |      4,862.85 ns |        71.216 ns |        59.469 ns |      4,849.71 ns |
+| DequeueAll_heap        | 100       |      8,791.09 ns |       145.019 ns |       183.403 ns |      8,731.62 ns |
+| DequeueAll_pqueue      | 100       |     10,819.65 ns |        97.138 ns |        90.863 ns |     10,837.05 ns |
+| EnqueueDequeue_rcQueue | 100       |      1,123.50 ns |        10.281 ns |         9.114 ns |      1,119.03 ns |
+| EnqueueDequeue_heap    | 100       |      1,228.70 ns |         4.664 ns |         3.894 ns |      1,227.22 ns |
+| EnqueueDequeue_pqueue  | 100       |        968.43 ns |        19.095 ns |        30.834 ns |        963.56 ns |
+| **Enqueue_rcQueue**    | **1000**  |  **7,416.73 ns** |   **147.213 ns** |   **229.193 ns** |  **7,377.16 ns** |
+| Enqueue_heap           | 1000      |     35,362.30 ns |       478.398 ns |       447.494 ns |     35,391.69 ns |
+| Enqueue_pqueue         | 1000      |     24,861.28 ns |       438.919 ns |       389.091 ns |     24,737.34 ns |
+| DequeueAll_rcQueue     | 1000      |     81,520.39 ns |       299.823 ns |       250.366 ns |     81,538.01 ns |
+| DequeueAll_heap        | 1000      |    150,237.95 ns |       475.349 ns |       371.121 ns |    150,241.44 ns |
+| DequeueAll_pqueue      | 1000      |    166,375.18 ns |     1,105.089 ns |     1,033.701 ns |    166,338.45 ns |
+| EnqueueDequeue_rcQueue | 1000      |     10,984.87 ns |        44.043 ns |        41.198 ns |     10,985.13 ns |
+| EnqueueDequeue_heap    | 1000      |     14,047.62 ns |       174.581 ns |       163.303 ns |     14,061.52 ns |
+| EnqueueDequeue_pqueue  | 1000      |      9,105.53 ns |        90.691 ns |        80.395 ns |      9,102.35 ns |
+| **Enqueue_rcQueue**    | **10000** | **90,623.51 ns** | **1,526.788 ns** | **1,353.458 ns** | **90,429.58 ns** |
+| Enqueue_heap           | 10000     |    347,060.71 ns |     4,511.258 ns |     3,767.105 ns |    347,319.53 ns |
+| Enqueue_pqueue         | 10000     |    287,118.46 ns |     3,091.524 ns |     2,581.562 ns |    286,254.88 ns |
+| DequeueAll_rcQueue     | 10000     |  1,245,536.36 ns |     7,701.471 ns |     6,827.153 ns |  1,245,206.25 ns |
+| DequeueAll_heap        | 10000     |  1,935,679.51 ns |     2,327.083 ns |     1,816.833 ns |  1,935,649.51 ns |
+| DequeueAll_pqueue      | 10000     |  2,541,652.37 ns |     7,807.705 ns |     7,303.332 ns |  2,543,812.50 ns |
+| EnqueueDequeue_rcQueue | 10000     |    121,456.00 ns |     2,210.749 ns |     5,079.562 ns |    119,552.48 ns |
+| EnqueueDequeue_heap    | 10000     |    144,426.41 ns |     2,700.978 ns |     2,526.496 ns |    143,537.16 ns |
+| EnqueueDequeue_pqueue  | 10000     |    102,263.93 ns |       984.973 ns |       873.153 ns |    102,031.01 ns |
+
+*/
+
+public class PriorityQueueBenchmarks
+{
+    [Params(10, 100, 1000, 10000)] public int Count;
+
+    private RcSortedQueue<Node> _rcQueue;
+    private RcBinaryHeap<Node> _heap;
+    private PriorityQueue<Node, Node> _pqueue;
+
+    private float[] _priority;
+
+    class Node
+    {
+        public int id;
+        public float total;
+    }
+
+    [GlobalSetup]
+    public void Setup()
+    {
+        static int Comp(Node x, Node y)
+        {
+            var v = x.total.CompareTo(y.total);
+            if (v != 0)
+                return v;
+            return x.id.CompareTo(y.id);
+        }
+
+        _rcQueue = new(Comp);
+        _heap = new(Count, Comp);
+        _pqueue = new(Count, Comparer<Node>.Create(Comp));
+
+        _priority = new float[Count];
+        for (int i = 0; i < Count; i++)
+        {
+            _priority[i] = (float)Random.Shared.NextDouble() * 100f;
+        }
+
+        Console.WriteLine("111");
+    }
+
+    [Benchmark]
+    public void Enqueue_rcQueue()
+    {
+        _rcQueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _rcQueue.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+    }
+
+    [Benchmark]
+    public void Enqueue_heap()
+    {
+        _heap.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _heap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+    }
+
+    [Benchmark]
+    public void Enqueue_pqueue()
+    {
+        _pqueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pqueue.Enqueue(node, node);
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_rcQueue()
+    {
+        _rcQueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _rcQueue.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+
+        while (_rcQueue.Count() > 0)
+        {
+            _rcQueue.Dequeue();
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_heap()
+    {
+        _heap.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _heap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+
+        while (_heap.Count > 0)
+        {
+            _heap.Pop();
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_pqueue()
+    {
+        _pqueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pqueue.Enqueue(node, node);
+        }
+
+        while (_pqueue.Count > 0)
+        {
+            _pqueue.Dequeue();
+        }
+    }
+
+
+    [Benchmark]
+    public void EnqueueDequeue_rcQueue()
+    {
+        _rcQueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _rcQueue.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+
+            _rcQueue.Dequeue();
+        }
+    }
+
+    [Benchmark]
+    public void EnqueueDequeue_heap()
+    {
+        _heap.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _heap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+
+            _heap.Pop();
+        }
+    }
+
+    [Benchmark]
+    public void EnqueueDequeue_pqueue()
+    {
+        _pqueue.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pqueue.Enqueue(node, node);
+
+            _pqueue.Dequeue();
+        }
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs
new file mode 100644
index 0000000..bc542e4
--- /dev/null
+++ b/test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs
@@ -0,0 +1,71 @@
+using System;
+using System.Runtime.CompilerServices;
+using BenchmarkDotNet.Attributes;
+using BenchmarkDotNet.Engines;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+
+| Method                         | TestArraySize | Mean         | Error      | StdDev      | Median       |
+|------------------------------- |-------------- |-------------:|-----------:|------------:|-------------:|
+| Stackalloc_Long                | 16            |     3.016 ns |  0.0179 ns |   0.0149 ns |     3.017 ns |
+| Stackalloc_Long_SkipLocalsInit | 16            |     2.265 ns |  0.0197 ns |   0.0184 ns |     2.258 ns |
+| New_Long                       | 16            |     5.917 ns |  0.1964 ns |   0.5634 ns |     5.761 ns |
+| New_Long_SkipLocalsInit        | 16            |     5.703 ns |  0.1371 ns |   0.3935 ns |     5.661 ns |
+| Stackalloc_Long                | 256           |    39.418 ns |  0.2737 ns |   0.2285 ns |    39.410 ns |
+| Stackalloc_Long_SkipLocalsInit | 256           |     2.274 ns |  0.0147 ns |   0.0131 ns |     2.274 ns |
+| New_Long                       | 256           |    53.901 ns |  2.9999 ns |   8.4614 ns |    51.449 ns |
+| New_Long_SkipLocalsInit        | 256           |    53.480 ns |  1.8716 ns |   5.4298 ns |    51.858 ns |
+| Stackalloc_Long                | 1024          |   137.037 ns |  0.3652 ns |   0.3416 ns |   137.031 ns |
+| Stackalloc_Long_SkipLocalsInit | 1024          |     3.669 ns |  0.0254 ns |   0.0226 ns |     3.668 ns |
+| New_Long                       | 1024          |   197.324 ns |  9.2795 ns |  27.0687 ns |   186.588 ns |
+| New_Long_SkipLocalsInit        | 1024          |   210.996 ns | 10.0255 ns |  27.9471 ns |   206.110 ns |
+| Stackalloc_Long                | 8192          | 1,897.989 ns |  7.1814 ns |   5.9968 ns | 1,897.814 ns |
+| Stackalloc_Long_SkipLocalsInit | 8192          |    20.598 ns |  0.2645 ns |   0.2344 ns |    20.572 ns |
+| New_Long                       | 8192          | 1,324.061 ns | 39.8447 ns | 116.2288 ns | 1,298.794 ns |
+| New_Long_SkipLocalsInit        | 8192          | 1,305.211 ns | 35.1855 ns | 102.0796 ns | 1,295.539 ns |
+*/
+
+public class StackallocBenchmarks
+{
+    private readonly Consumer _consumer = new();
+
+    [Params(1 << 4, 1 << 8, 1 << 10, 1 << 13)]
+    public int HashTableSize;
+
+    [Benchmark]
+    public void Stackalloc_Long()
+    {
+        Span<long> hashTable = stackalloc long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+    [Benchmark]
+    [SkipLocalsInit]
+    public void Stackalloc_Long_SkipLocalsInit()
+    {
+        Span<long> hashTable = stackalloc long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+    [Benchmark]
+    public void New_Long()
+    {
+        Span<long> hashTable = new long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+
+    [Benchmark]
+    [SkipLocalsInit]
+    public void New_Long_SkipLocalsInit()
+    {
+        Span<long> hashTable = new long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs
new file mode 100644
index 0000000..0cb3faa
--- /dev/null
+++ b/test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs
@@ -0,0 +1,73 @@
+using BenchmarkDotNet.Attributes;
+using BenchmarkDotNet.Engines;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+| Method            | Mean      | Error     | StdDev    |
+|------------------ |----------:|----------:|----------:|
+| Dot_Vector3       | 0.6395 ns | 0.0125 ns | 0.0104 ns |
+| Dot_RcVec3f       | 0.2275 ns | 0.0281 ns | 0.0375 ns |
+| Cross_Vector3     | 1.1652 ns | 0.0102 ns | 0.0085 ns |
+| Cross_RcVec3f     | 1.1687 ns | 0.0140 ns | 0.0124 ns |
+| Normalize_Vector3 | 1.7964 ns | 0.0173 ns | 0.0162 ns |
+| Normalize_RcVec3f | 1.2806 ns | 0.0088 ns | 0.0078 ns |
+*/
+
+public class VectorBenchmarks
+{
+    private readonly Consumer _consumer = new();
+
+    [Benchmark]
+    public void Dot_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v2 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Dot(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Dot_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v2 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Dot(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Cross_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v2 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Cross(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Cross_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v2 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Cross(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Normalize_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Normalize(v1);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Normalize_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Normalize(v1);
+        _consumer.Consume(v);
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
index 0a1d580..c284e95 100644
--- a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
+++ b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
@@ -2,9 +2,10 @@
 
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFramework>net8.0</TargetFramework>
-    <ImplicitUsings>enable</ImplicitUsings>
-    <Nullable>enable</Nullable>
+    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <IsPackable>false</IsPackable>
+    <IsTestProject>true</IsTestProject>
   </PropertyGroup>
 
   <ItemGroup>
diff --git a/test/DotRecast.Benchmark/Program.cs b/test/DotRecast.Benchmark/Program.cs
deleted file mode 100644
index 2ca5fc5..0000000
--- a/test/DotRecast.Benchmark/Program.cs
+++ /dev/null
@@ -1,7 +0,0 @@
-using BenchmarkDotNet.Running;
-using CSharpBencchmark;
-
-BenchmarkRunner.Run([
-    //BenchmarkConverter.TypeToBenchmarks(typeof(Bench_PriorityQueue)),
-    BenchmarkConverter.TypeToBenchmarks(typeof(Bench_Math_RcVec3f)),
-]);

From 8a655528c3cfb20d1fc9b6bf87334c1310df58db Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sat, 3 Aug 2024 14:36:46 +0900
Subject: [PATCH 117/147] benchmark

---
 test/DotRecast.Benchmark/BenchmarkProgram.cs       | 14 +++++++++-----
 .../DotRecast.Benchmark/DotRecast.Benchmark.csproj |  1 -
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/test/DotRecast.Benchmark/BenchmarkProgram.cs b/test/DotRecast.Benchmark/BenchmarkProgram.cs
index 47b3601..8f4c057 100644
--- a/test/DotRecast.Benchmark/BenchmarkProgram.cs
+++ b/test/DotRecast.Benchmark/BenchmarkProgram.cs
@@ -1,3 +1,5 @@
+using System.Collections.Immutable;
+using System.Linq;
 using BenchmarkDotNet.Running;
 using DotRecast.Benchmark.Benchmarks;
 
@@ -7,11 +9,13 @@ public static class BenchmarkProgram
 {
     public static int Main(string[] args)
     {
-        var summary = BenchmarkRunner.Run([
-            //BenchmarkConverter.TypeToBenchmarks(typeof(VectorBenchmarks)),
-            //BenchmarkConverter.TypeToBenchmarks(typeof(PriorityQueueBenchmarks)),
-            BenchmarkConverter.TypeToBenchmarks(typeof(StackallocBenchmarks)),
-        ]);
+        var runs = ImmutableArray.Create(
+            BenchmarkConverter.TypeToBenchmarks(typeof(VectorBenchmarks)),
+            BenchmarkConverter.TypeToBenchmarks(typeof(PriorityQueueBenchmarks)),
+            BenchmarkConverter.TypeToBenchmarks(typeof(StackallocBenchmarks))
+        );
+
+        var summary = BenchmarkRunner.Run(runs.ToArray());
 
         return 0;
     }
diff --git a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
index c284e95..1aa890c 100644
--- a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
+++ b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
@@ -5,7 +5,6 @@
     <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
     <IsPackable>false</IsPackable>
-    <IsTestProject>true</IsTestProject>
   </PropertyGroup>
 
   <ItemGroup>

From 89214accfba3b4a6c856432f8f52e1a65b78cf68 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 4 Aug 2024 18:03:01 +0900
Subject: [PATCH 118/147] added RcBinaryMinHeapTest

---
 .../Collections/RcBinaryHeap.cs               | 161 ------------------
 .../Collections/RcBinaryMinHeap.cs            | 154 +++++++++++++++++
 .../Benchmarks/PriorityQueueBenchmarks.cs     |  86 +++++-----
 .../RcBinaryMinHeapTest.cs                    | 147 ++++++++++++++++
 4 files changed, 343 insertions(+), 205 deletions(-)
 delete mode 100644 src/DotRecast.Core/Collections/RcBinaryHeap.cs
 create mode 100644 src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
 create mode 100644 test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs

diff --git a/src/DotRecast.Core/Collections/RcBinaryHeap.cs b/src/DotRecast.Core/Collections/RcBinaryHeap.cs
deleted file mode 100644
index 5d4ff12..0000000
--- a/src/DotRecast.Core/Collections/RcBinaryHeap.cs
+++ /dev/null
@@ -1,161 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Runtime.CompilerServices;
-using System.Text;
-
-namespace DotRecast.Core.Collections
-{
-    public sealed class RcBinaryHeap<T>
-    {
-        public int Count => _count;
-        public int Capacity => _values.Length;
-
-        public T this[int index] => _values[index];
-
-        private T[] _values;
-        private int _count;
-
-        private Comparison<T> _comparision;
-
-        public RcBinaryHeap(Comparison<T> comparison) : this(8, comparison)
-        {
-        }
-
-        public RcBinaryHeap(int capacity, Comparison<T> comparison)
-        {
-            if (capacity <= 0)
-                throw new ArgumentException("capacity must greater than zero");
-
-            _values = new T[capacity];
-            _comparision = comparison;
-            _count = 0;
-        }
-
-        public void Push(T val)
-        {
-            EnsureCapacity();
-
-            _values[_count++] = val;
-
-            UpHeap(_count - 1);
-        }
-
-        public T Pop()
-        {
-            if (_count == 0)
-            {
-                Throw();
-
-                static void Throw() =>
-                    throw new InvalidOperationException("no element to pop");
-            }
-
-            Swap(0, --_count);
-            DownHeap(1);
-
-            return _values[_count];
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public T Top()
-        {
-            return _values[0];
-        }
-
-        public void Modify(T node)
-        {
-            for (int i = 0; i < _count; i++)
-            {
-                if (_values[i].Equals(node))
-                {
-                    UpHeap(i);
-                    return;
-                }
-            }
-        }
-
-        public void Clear()
-        {
-            Array.Clear(_values, 0, _count);
-            _count = 0;
-        }
-
-        public void FastClear()
-        {
-            _count = 0;
-        }
-
-        public T[] ToArray()
-        {
-            var copy = new T[_count];
-            Array.Copy(_values, copy, _count);
-            return copy;
-        }
-
-        public void ReBuild()
-        {
-            for (int i = _count / 2; i >= 1; i--)
-            {
-                DownHeap(i);
-            }
-        }
-
-        private void EnsureCapacity()
-        {
-            if (_values.Length <= _count)
-            {
-                var newValues = new T[Capacity * 2];
-                Array.Copy(_values, newValues, _count);
-                _values = newValues;
-            }
-        }
-
-        private void UpHeap(int i)
-        {
-            int p = (i - 1) / 2;
-            while (p >= 0)
-            {
-                if (_comparision(_values[p], _values[i]) <= 0)
-                    break;
-
-                Swap(p, i);
-
-                i = p;
-                p = (i - 1) / 2;
-            }
-        }
-
-        private void DownHeap(int i)
-        {
-            T d = _values[i - 1];
-            int child;
-            while (i <= _count / 2)
-            {
-                child = i * 2;
-                if (child < _count && _comparision(_values[child - 1], _values[child]) > 0)
-                    child++;
-
-                if (_comparision(d, _values[child - 1]) <= 0)
-                    break;
-
-                _values[i - 1] = _values[child - 1];
-                i = child;
-            }
-            _values[i - 1] = d;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        private void Swap(int x, int y)
-        {
-            if (x == y)
-                return;
-            (_values[y], _values[x]) = (_values[x], _values[y]);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public bool IsEmpty()
-        {
-            return _count == 0;
-        }
-    }
-}
diff --git a/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs b/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
new file mode 100644
index 0000000..b7d9a48
--- /dev/null
+++ b/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
@@ -0,0 +1,154 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public sealed class RcBinaryMinHeap<T>
+    {
+        private readonly List<T> _items;
+        private readonly Comparison<T> _comparision;
+
+        public int Count => _items.Count;
+        public int Capacity => _items.Capacity;
+
+        public RcBinaryMinHeap(Comparison<T> comparision)
+        {
+            _items = new List<T>();
+            _comparision = comparision;
+        }
+
+        public RcBinaryMinHeap(int capacity, Comparison<T> comparison) : this(comparison)
+        {
+            if (capacity <= 0)
+                throw new ArgumentException("capacity must greater than zero");
+
+            _items = new List<T>(capacity);
+            _comparision = comparison;
+        }
+
+        public void Push(T val)
+        {
+            _items.Add(val);
+            SiftUp(_items.Count - 1);
+        }
+
+        public T Pop()
+        {
+            var min = Peek();
+            RemoveMin();
+            return min;
+        }
+
+        private void RemoveMin()
+        {
+            if (_items.Count == 0)
+            {
+                Throw();
+                static void Throw() => throw new InvalidOperationException("no element to pop");
+            }
+
+            int last = _items.Count - 1;
+            Swap(0, last);
+            _items.RemoveAt(last);
+
+            MinHeapify(0, last - 1);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public T Top()
+        {
+            return _items[0];
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public T Peek()
+        {
+            if (IsEmpty())
+            {
+                throw new Exception("Heap is empty.");
+            }
+
+            return _items[0];
+        }
+
+
+        public bool Modify(T node)
+        {
+            for (int i = 0; i < _items.Count; i++)
+            {
+                if (_items[i].Equals(node))
+                {
+                    SiftUp(i);
+                    return true;
+                }
+            }
+
+            return false;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public void Clear()
+        {
+            _items.Clear();
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public bool IsEmpty()
+        {
+            return 0 == _items.Count;
+        }
+
+        private void SiftUp(int nodeIndex)
+        {
+            int parent = (nodeIndex - 1) / 2;
+            while (_comparision.Invoke(_items[nodeIndex], _items[parent]) < 0)
+            {
+                Swap(parent, nodeIndex);
+                nodeIndex = parent;
+                parent = (nodeIndex - 1) / 2;
+            }
+        }
+
+
+        private void MinHeapify(int nodeIndex, int lastIndex)
+        {
+            int left = (nodeIndex * 2) + 1;
+            int right = left + 1;
+            int smallest = nodeIndex;
+
+            if (left <= lastIndex && _comparision.Invoke(_items[left], _items[nodeIndex]) < 0)
+                smallest = left;
+
+            if (right <= lastIndex && _comparision.Invoke(_items[right], _items[smallest]) < 0)
+                smallest = right;
+
+            if (smallest == nodeIndex)
+                return;
+
+            Swap(nodeIndex, smallest);
+            MinHeapify(smallest, lastIndex);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        private void Swap(int x, int y)
+        {
+            if (x == y)
+                return;
+
+            (_items[y], _items[x]) = (_items[x], _items[y]);
+        }
+
+
+        public T[] ToArray()
+        {
+            return _items.ToArray();
+        }
+
+        public List<T> ToList()
+        {
+            return new List<T>(_items);
+        }
+    }
+}
\ No newline at end of file
diff --git a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
index f44b8bd..93d8ab1 100644
--- a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
+++ b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
@@ -52,9 +52,9 @@ public class PriorityQueueBenchmarks
 {
     [Params(10, 100, 1000, 10000)] public int Count;
 
-    private RcSortedQueue<Node> _rcQueue;
-    private RcBinaryHeap<Node> _heap;
-    private PriorityQueue<Node, Node> _pqueue;
+    private RcSortedQueue<Node> _sq;
+    private RcBinaryMinHeap<Node> _bmHeap;
+    private PriorityQueue<Node, Node> _pq;
 
     private float[] _priority;
 
@@ -75,26 +75,24 @@ public class PriorityQueueBenchmarks
             return x.id.CompareTo(y.id);
         }
 
-        _rcQueue = new(Comp);
-        _heap = new(Count, Comp);
-        _pqueue = new(Count, Comparer<Node>.Create(Comp));
+        _sq = new(Comp);
+        _bmHeap = new(Count, Comp);
+        _pq = new(Count, Comparer<Node>.Create(Comp));
 
         _priority = new float[Count];
         for (int i = 0; i < Count; i++)
         {
             _priority[i] = (float)Random.Shared.NextDouble() * 100f;
         }
-
-        Console.WriteLine("111");
     }
 
     [Benchmark]
-    public void Enqueue_rcQueue()
+    public void Enqueue_RcSortedQueue()
     {
-        _rcQueue.Clear();
+        _sq.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _rcQueue.Enqueue(new Node
+            _sq.Enqueue(new Node
             {
                 id = i,
                 total = _priority[i],
@@ -103,12 +101,12 @@ public class PriorityQueueBenchmarks
     }
 
     [Benchmark]
-    public void Enqueue_heap()
+    public void Enqueue_RcBinaryMinHeap()
     {
-        _heap.Clear();
+        _bmHeap.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _heap.Push(new Node
+            _bmHeap.Push(new Node
             {
                 id = i,
                 total = _priority[i],
@@ -117,9 +115,9 @@ public class PriorityQueueBenchmarks
     }
 
     [Benchmark]
-    public void Enqueue_pqueue()
+    public void Enqueue_PriorityQueue()
     {
-        _pqueue.Clear();
+        _pq.Clear();
         for (int i = 0; i < Count; i++)
         {
             var node = new Node
@@ -127,52 +125,52 @@ public class PriorityQueueBenchmarks
                 id = i,
                 total = _priority[i],
             };
-            _pqueue.Enqueue(node, node);
+            _pq.Enqueue(node, node);
         }
     }
 
     [Benchmark]
-    public void DequeueAll_rcQueue()
+    public void DequeueAll_RcSortedQueue()
     {
-        _rcQueue.Clear();
+        _sq.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _rcQueue.Enqueue(new Node
+            _sq.Enqueue(new Node
             {
                 id = i,
                 total = _priority[i],
             });
         }
 
-        while (_rcQueue.Count() > 0)
+        while (_sq.Count() > 0)
         {
-            _rcQueue.Dequeue();
+            _sq.Dequeue();
         }
     }
 
     [Benchmark]
-    public void DequeueAll_heap()
+    public void DequeueAll_RcBinaryMinHeap()
     {
-        _heap.Clear();
+        _bmHeap.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _heap.Push(new Node
+            _bmHeap.Push(new Node
             {
                 id = i,
                 total = _priority[i],
             });
         }
 
-        while (_heap.Count > 0)
+        while (_bmHeap.Count > 0)
         {
-            _heap.Pop();
+            _bmHeap.Pop();
         }
     }
 
     [Benchmark]
-    public void DequeueAll_pqueue()
+    public void DequeueAll_PriorityQueue()
     {
-        _pqueue.Clear();
+        _pq.Clear();
         for (int i = 0; i < Count; i++)
         {
             var node = new Node
@@ -180,52 +178,52 @@ public class PriorityQueueBenchmarks
                 id = i,
                 total = _priority[i],
             };
-            _pqueue.Enqueue(node, node);
+            _pq.Enqueue(node, node);
         }
 
-        while (_pqueue.Count > 0)
+        while (_pq.Count > 0)
         {
-            _pqueue.Dequeue();
+            _pq.Dequeue();
         }
     }
 
 
     [Benchmark]
-    public void EnqueueDequeue_rcQueue()
+    public void EnqueueDequeue_RcSortedQueue()
     {
-        _rcQueue.Clear();
+        _sq.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _rcQueue.Enqueue(new Node
+            _sq.Enqueue(new Node
             {
                 id = i,
                 total = _priority[i],
             });
 
-            _rcQueue.Dequeue();
+            _sq.Dequeue();
         }
     }
 
     [Benchmark]
-    public void EnqueueDequeue_heap()
+    public void EnqueueDequeue_RcBinaryMinHeap()
     {
-        _heap.Clear();
+        _bmHeap.Clear();
         for (int i = 0; i < Count; i++)
         {
-            _heap.Push(new Node
+            _bmHeap.Push(new Node
             {
                 id = i,
                 total = _priority[i],
             });
 
-            _heap.Pop();
+            _bmHeap.Pop();
         }
     }
 
     [Benchmark]
-    public void EnqueueDequeue_pqueue()
+    public void EnqueueDequeue_PriorityQueue()
     {
-        _pqueue.Clear();
+        _pq.Clear();
         for (int i = 0; i < Count; i++)
         {
             var node = new Node
@@ -233,9 +231,9 @@ public class PriorityQueueBenchmarks
                 id = i,
                 total = _priority[i],
             };
-            _pqueue.Enqueue(node, node);
+            _pq.Enqueue(node, node);
 
-            _pqueue.Dequeue();
+            _pq.Dequeue();
         }
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs b/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs
new file mode 100644
index 0000000..7dcfc2f
--- /dev/null
+++ b/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs
@@ -0,0 +1,147 @@
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcBinaryMinHeapTest
+{
+    private static readonly RcAtomicLong Gen = new();
+
+    private class Node
+    {
+        public readonly long Id;
+        public long Value;
+
+        public Node(int value)
+        {
+            Id = Gen.IncrementAndGet();
+            Value = value;
+        }
+    }
+
+    [Test]
+    public void TestPush()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        // Push 후 힙의 속성을 검증
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestPop()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        // Pop을 통해 최소 값부터 순서대로 제거하면서 검증
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(2));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(3));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(4));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(5));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(7));
+
+        // 모든 요소를 Pop한 후에는 비어있어야 함
+        Assert.That(minHeap.IsEmpty(), Is.True);
+    }
+
+
+    [Test]
+    public void TestTop()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+
+        Assert.That(minHeap.Top().Value, Is.EqualTo(3));
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestModify()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        var node7 = new Node(7);
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(node7);
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        node7.Value = 1;
+        var result = minHeap.Modify(node7); // Modify value 7 to 1
+        var result2 = minHeap.Modify(new Node(4));
+
+        Assert.That(result, Is.EqualTo(true));
+        Assert.That(result2, Is.EqualTo(false));
+        Assert.That(minHeap.Top().Value, Is.EqualTo(1));
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestCount()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+
+        Assert.That(minHeap.Count, Is.EqualTo(3));
+
+        minHeap.Pop();
+
+        Assert.That(minHeap.Count, Is.EqualTo(2));
+
+        minHeap.Clear();
+
+        Assert.That(minHeap.Count, Is.EqualTo(0));
+    }
+
+    [Test]
+    public void TestIsEmpty()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        Assert.That(minHeap.IsEmpty(), Is.True);
+
+        minHeap.Push(new Node(5));
+
+        Assert.That(minHeap.IsEmpty(), Is.False);
+
+        minHeap.Pop();
+
+        Assert.That(minHeap.IsEmpty(), Is.True);
+    }
+
+    private void AssertHeapProperty(Node[] array)
+    {
+        for (int i = 0; i < array.Length / 2; i++)
+        {
+            int leftChildIndex = 2 * i + 1;
+            int rightChildIndex = 2 * i + 2;
+
+            // 왼쪽 자식 노드가 있는지 확인하고 비교
+            if (leftChildIndex < array.Length)
+                Assert.That(array[i].Value, Is.LessThanOrEqualTo(array[leftChildIndex].Value));
+
+            // 오른쪽 자식 노드가 있는지 확인하고 비교
+            if (rightChildIndex < array.Length)
+                Assert.That(array[i].Value, Is.LessThanOrEqualTo(array[rightChildIndex].Value));
+        }
+    }
+}
\ No newline at end of file

From 153b523ea72174e06d542cad115d20d81ddfdc13 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 4 Aug 2024 18:15:16 +0900
Subject: [PATCH 119/147] changelog

---
 CHANGELOG.md                                      | 3 ++-
 src/DotRecast.Core/Collections/RcBinaryMinHeap.cs | 1 -
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cf89ff3..e6c3a06 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,7 +7,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased] - yyyy-mm-dd
 
 ### Added
-- Nothing
+- Added RcBinaryMinHeap ([@Sarofc](https://github.com/Sarofc))
+- Added DotRecast.Benchmark ([@Sarofc](https://github.com/Sarofc))
 
 ### Fixed
 - Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
diff --git a/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs b/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
index b7d9a48..900fd54 100644
--- a/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
+++ b/src/DotRecast.Core/Collections/RcBinaryMinHeap.cs
@@ -1,6 +1,5 @@
 using System;
 using System.Collections.Generic;
-using System.Linq;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

From cd7c668cafc1a74dfa2aa396ab49dd2ae58d7fca Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 4 Aug 2024 18:35:25 +0900
Subject: [PATCH 120/147] changed PriorityQueueBenchmarks

---
 .../Benchmarks/PriorityQueueBenchmarks.cs     | 38 +++++++++++++++++--
 1 file changed, 35 insertions(+), 3 deletions(-)

diff --git a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
index 93d8ab1..c4f1757 100644
--- a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
+++ b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
@@ -192,7 +192,17 @@ public class PriorityQueueBenchmarks
     public void EnqueueDequeue_RcSortedQueue()
     {
         _sq.Clear();
-        for (int i = 0; i < Count; i++)
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
+        {
+            _sq.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+        
+        for (int i = half; i < Count; i++)
         {
             _sq.Enqueue(new Node
             {
@@ -202,13 +212,24 @@ public class PriorityQueueBenchmarks
 
             _sq.Dequeue();
         }
+
     }
 
     [Benchmark]
     public void EnqueueDequeue_RcBinaryMinHeap()
     {
         _bmHeap.Clear();
-        for (int i = 0; i < Count; i++)
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
+        {
+            _bmHeap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+        
+        for (int i = half; i < Count; i++)
         {
             _bmHeap.Push(new Node
             {
@@ -218,13 +239,15 @@ public class PriorityQueueBenchmarks
 
             _bmHeap.Pop();
         }
+
     }
 
     [Benchmark]
     public void EnqueueDequeue_PriorityQueue()
     {
         _pq.Clear();
-        for (int i = 0; i < Count; i++)
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
         {
             var node = new Node
             {
@@ -232,7 +255,16 @@ public class PriorityQueueBenchmarks
                 total = _priority[i],
             };
             _pq.Enqueue(node, node);
+        }
 
+        for (int i = half; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pq.Enqueue(node, node);
             _pq.Dequeue();
         }
     }

From 13be6d5bd8c9512009db78f3c71c1d535742d145 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 4 Aug 2024 18:55:17 +0900
Subject: [PATCH 121/147] benchmark

---
 .../Benchmarks/PriorityQueueBenchmarks.cs     | 83 ++++++++++---------
 1 file changed, 45 insertions(+), 38 deletions(-)

diff --git a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
index c4f1757..b929454 100644
--- a/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
+++ b/test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs
@@ -7,44 +7,51 @@ namespace DotRecast.Benchmark.Benchmarks;
 
 /*
 
-| Method                 | Count     |             Mean |            Error |           StdDev |           Median |
-| ---------------------- | --------- | ---------------: | ---------------: | ---------------: | ---------------: |
-| **Enqueue_rcQueue**    | **10**    |     **83.81 ns** |     **1.722 ns** |     **2.925 ns** |     **83.00 ns** |
-| Enqueue_heap           | 10        |        173.27 ns |         3.431 ns |         3.813 ns |        172.40 ns |
-| Enqueue_pqueue         | 10        |        151.13 ns |         3.045 ns |         3.625 ns |        151.81 ns |
-| DequeueAll_rcQueue     | 10        |        293.28 ns |         5.368 ns |         5.021 ns |        293.56 ns |
-| DequeueAll_heap        | 10        |        409.89 ns |         4.982 ns |         4.416 ns |        410.04 ns |
-| DequeueAll_pqueue      | 10        |        448.56 ns |         4.490 ns |         3.980 ns |        448.17 ns |
-| EnqueueDequeue_rcQueue | 10        |        116.73 ns |         0.126 ns |         0.105 ns |        116.72 ns |
-| EnqueueDequeue_heap    | 10        |        130.94 ns |         0.936 ns |         0.781 ns |        130.80 ns |
-| EnqueueDequeue_pqueue  | 10        |        101.39 ns |         0.589 ns |         0.551 ns |        101.14 ns |
-| **Enqueue_rcQueue**    | **100**   |    **690.10 ns** |     **1.463 ns** |     **1.297 ns** |    **689.74 ns** |
-| Enqueue_heap           | 100       |      2,517.08 ns |         8.466 ns |         7.070 ns |      2,515.99 ns |
-| Enqueue_pqueue         | 100       |      2,188.55 ns |        26.386 ns |        24.682 ns |      2,193.53 ns |
-| DequeueAll_rcQueue     | 100       |      4,862.85 ns |        71.216 ns |        59.469 ns |      4,849.71 ns |
-| DequeueAll_heap        | 100       |      8,791.09 ns |       145.019 ns |       183.403 ns |      8,731.62 ns |
-| DequeueAll_pqueue      | 100       |     10,819.65 ns |        97.138 ns |        90.863 ns |     10,837.05 ns |
-| EnqueueDequeue_rcQueue | 100       |      1,123.50 ns |        10.281 ns |         9.114 ns |      1,119.03 ns |
-| EnqueueDequeue_heap    | 100       |      1,228.70 ns |         4.664 ns |         3.894 ns |      1,227.22 ns |
-| EnqueueDequeue_pqueue  | 100       |        968.43 ns |        19.095 ns |        30.834 ns |        963.56 ns |
-| **Enqueue_rcQueue**    | **1000**  |  **7,416.73 ns** |   **147.213 ns** |   **229.193 ns** |  **7,377.16 ns** |
-| Enqueue_heap           | 1000      |     35,362.30 ns |       478.398 ns |       447.494 ns |     35,391.69 ns |
-| Enqueue_pqueue         | 1000      |     24,861.28 ns |       438.919 ns |       389.091 ns |     24,737.34 ns |
-| DequeueAll_rcQueue     | 1000      |     81,520.39 ns |       299.823 ns |       250.366 ns |     81,538.01 ns |
-| DequeueAll_heap        | 1000      |    150,237.95 ns |       475.349 ns |       371.121 ns |    150,241.44 ns |
-| DequeueAll_pqueue      | 1000      |    166,375.18 ns |     1,105.089 ns |     1,033.701 ns |    166,338.45 ns |
-| EnqueueDequeue_rcQueue | 1000      |     10,984.87 ns |        44.043 ns |        41.198 ns |     10,985.13 ns |
-| EnqueueDequeue_heap    | 1000      |     14,047.62 ns |       174.581 ns |       163.303 ns |     14,061.52 ns |
-| EnqueueDequeue_pqueue  | 1000      |      9,105.53 ns |        90.691 ns |        80.395 ns |      9,102.35 ns |
-| **Enqueue_rcQueue**    | **10000** | **90,623.51 ns** | **1,526.788 ns** | **1,353.458 ns** | **90,429.58 ns** |
-| Enqueue_heap           | 10000     |    347,060.71 ns |     4,511.258 ns |     3,767.105 ns |    347,319.53 ns |
-| Enqueue_pqueue         | 10000     |    287,118.46 ns |     3,091.524 ns |     2,581.562 ns |    286,254.88 ns |
-| DequeueAll_rcQueue     | 10000     |  1,245,536.36 ns |     7,701.471 ns |     6,827.153 ns |  1,245,206.25 ns |
-| DequeueAll_heap        | 10000     |  1,935,679.51 ns |     2,327.083 ns |     1,816.833 ns |  1,935,649.51 ns |
-| DequeueAll_pqueue      | 10000     |  2,541,652.37 ns |     7,807.705 ns |     7,303.332 ns |  2,543,812.50 ns |
-| EnqueueDequeue_rcQueue | 10000     |    121,456.00 ns |     2,210.749 ns |     5,079.562 ns |    119,552.48 ns |
-| EnqueueDequeue_heap    | 10000     |    144,426.41 ns |     2,700.978 ns |     2,526.496 ns |    143,537.16 ns |
-| EnqueueDequeue_pqueue  | 10000     |    102,263.93 ns |       984.973 ns |       873.153 ns |    102,031.01 ns |
+// * Summary *
+BenchmarkDotNet v0.13.12, Windows 11 (10.0.22631.3958/23H2/2023Update/SunValley3)
+AMD Ryzen 5 3600, 1 CPU, 12 logical and 6 physical cores
+.NET SDK 8.0.101
+  [Host]     : .NET 8.0.1 (8.0.123.58001), X64 RyuJIT AVX2
+  DefaultJob : .NET 8.0.1 (8.0.123.58001), X64 RyuJIT AVX2
+
+| Method                         | Count | Mean                | Error            | StdDev           |
+|------------------------------- |------ |--------------------:|-----------------:|-----------------:|
+| Enqueue_RcSortedQueue          | 10    |            87.49 ns |         0.774 ns |         0.724 ns |
+| Enqueue_RcBinaryMinHeap        | 10    |           185.23 ns |         1.730 ns |         1.533 ns |
+| Enqueue_PriorityQueue          | 10    |           202.95 ns |         1.611 ns |         1.428 ns |
+| DequeueAll_RcSortedQueue       | 10    |           460.97 ns |         2.169 ns |         2.029 ns |
+| DequeueAll_RcBinaryMinHeap     | 10    |           573.17 ns |         2.542 ns |         2.378 ns |
+| DequeueAll_PriorityQueue       | 10    |           500.68 ns |         2.364 ns |         2.212 ns |
+| EnqueueDequeue_RcSortedQueue   | 10    |           525.43 ns |         1.842 ns |         1.632 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 10    |           455.65 ns |         2.410 ns |         2.254 ns |
+| EnqueueDequeue_PriorityQueue   | 10    |           381.82 ns |         6.036 ns |         5.646 ns |
+| Enqueue_RcSortedQueue          | 100   |           730.57 ns |         5.229 ns |         4.635 ns |
+| Enqueue_RcBinaryMinHeap        | 100   |         3,012.15 ns |        10.875 ns |         9.640 ns |
+| Enqueue_PriorityQueue          | 100   |         2,306.80 ns |        26.694 ns |        23.663 ns |
+| DequeueAll_RcSortedQueue       | 100   |         6,241.67 ns |        31.856 ns |        29.798 ns |
+| DequeueAll_RcBinaryMinHeap     | 100   |        13,692.29 ns |        38.829 ns |        34.421 ns |
+| DequeueAll_PriorityQueue       | 100   |        12,482.93 ns |        93.955 ns |        87.886 ns |
+| EnqueueDequeue_RcSortedQueue   | 100   |        64,002.79 ns |       316.081 ns |       280.197 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 100   |         8,655.79 ns |        23.703 ns |        22.172 ns |
+| EnqueueDequeue_PriorityQueue   | 100   |         7,806.20 ns |       105.801 ns |        98.967 ns |
+| Enqueue_RcSortedQueue          | 1000  |         7,566.23 ns |       149.010 ns |       218.418 ns |
+| Enqueue_RcBinaryMinHeap        | 1000  |        36,277.43 ns |        96.710 ns |        90.462 ns |
+| Enqueue_PriorityQueue          | 1000  |        28,564.19 ns |       186.866 ns |       174.795 ns |
+| DequeueAll_RcSortedQueue       | 1000  |       108,574.26 ns |       745.459 ns |       697.303 ns |
+| DequeueAll_RcBinaryMinHeap     | 1000  |       210,346.25 ns |       332.478 ns |       311.000 ns |
+| DequeueAll_PriorityQueue       | 1000  |       189,536.32 ns |     1,180.045 ns |     1,046.079 ns |
+| EnqueueDequeue_RcSortedQueue   | 1000  |     8,957,965.42 ns |    45,715.567 ns |    42,762.370 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 1000  |       131,615.02 ns |       394.216 ns |       368.750 ns |
+| EnqueueDequeue_PriorityQueue   | 1000  |       114,799.89 ns |     1,269.621 ns |     1,060.191 ns |
+| Enqueue_RcSortedQueue          | 10000 |        77,143.76 ns |       996.372 ns |       932.007 ns |
+| Enqueue_RcBinaryMinHeap        | 10000 |       417,620.57 ns |       853.343 ns |       756.466 ns |
+| Enqueue_PriorityQueue          | 10000 |       278,791.68 ns |     1,566.093 ns |     1,464.924 ns |
+| DequeueAll_RcSortedQueue       | 10000 |     1,435,539.99 ns |     9,329.910 ns |     8,727.204 ns |
+| DequeueAll_RcBinaryMinHeap     | 10000 |     2,956,366.90 ns |     6,344.030 ns |     5,934.210 ns |
+| DequeueAll_PriorityQueue       | 10000 |     2,642,186.54 ns |     9,482.374 ns |     8,869.819 ns |
+| EnqueueDequeue_RcSortedQueue   | 10000 | 1,318,277,320.00 ns | 6,725,701.525 ns | 6,291,225.379 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 10000 |     1,712,170.68 ns |     5,674.513 ns |     5,307.943 ns |
+| EnqueueDequeue_PriorityQueue   | 10000 |     1,466,910.77 ns |     4,394.686 ns |     4,110.792 ns |
 
 */
 

From 997d3f1a9b7965ad709059ae0f1dd09c8ad36175 Mon Sep 17 00:00:00 2001
From: Sarofc <sarono@foxmail.com>
Date: Fri, 5 Jul 2024 22:34:32 +0800
Subject: [PATCH 122/147] draw agent option

---
 .../Draw/RecastDebugDraw.cs                   |  3 --
 .../Tools/CrowdAgentProfilingSampleTool.cs    | 20 ++++++------
 .../Tools/RcCrowdAgentProfilingTool.cs        | 32 +++++++++----------
 .../Tools/RcCrowdAgentProfilingToolConfig.cs  |  4 ++-
 4 files changed, 30 insertions(+), 29 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index e97d9f3..d26b7d3 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -19,11 +19,8 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
-using DotRecast.Detour.Crowd;
-using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Recast.Toolset.Builder;
 using Silk.NET.OpenGL;
 
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
index a2b06d5..0adef28 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
@@ -18,12 +18,9 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
-using System.Linq;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Detour.Crowd;
-using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
@@ -98,6 +95,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         ImGui.SliderInt("Max Iterations", ref toolCfg.maxIterations, 0, 4000);
         ImGui.NewLine();
 
+        ImGui.Text("Debug Draw");
+        ImGui.Separator();
+        ImGui.Checkbox("Show Agents", ref toolCfg.showAgents);
+        ImGui.NewLine();
+
         if (ImGui.Button("Start Crowd Profiling"))
         {
             var settings = _sample.GetSettings();
@@ -118,11 +120,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
                 ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
             }
 
-            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime()} ms");
-            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime()} ms");
-            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime()} ms");
-            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime()} ms");
-            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime()} ms");
+            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime():0.00} ms");
+            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime():0.00} ms");
+            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime():0.00} ms");
+            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime():0.00} ms");
+            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime():0.00} ms");
         }
     }
 
@@ -132,7 +134,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         dd.DepthMask(false);
 
         var crowd = _tool.GetCrowd();
-        if (crowd != null)
+        if (crowd != null && _tool.GetToolConfig().showAgents)
         {
             foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
             {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
index 6a5227b..4f4adea 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Numerics;
@@ -26,12 +26,12 @@ namespace DotRecast.Recast.Toolset.Tools
         private readonly List<DtPolyPoint> _polyPoints;
 
         private const int SamplingCount = 500;
-        private long _samplingUpdateTime;
+        private double _samplingUpdateTime;
         private readonly RcCyclicBuffer<long> _updateTimes;
-        private long _curUpdateTime;
-        private long _avgUpdateTime;
-        private long _minUpdateTime;
-        private long _maxUpdateTime;
+        private double _curUpdateTime;
+        private double _avgUpdateTime;
+        private double _minUpdateTime;
+        private double _maxUpdateTime;
 
         public RcCrowdAgentProfilingTool()
         {
@@ -269,11 +269,11 @@ namespace DotRecast.Recast.Toolset.Tools
             _updateTimes.PushBack(currentTime);
 
             // for benchmark
-            _samplingUpdateTime = _updateTimes.Sum() / TimeSpan.TicksPerMillisecond;
-            _curUpdateTime = currentTime / TimeSpan.TicksPerMillisecond;
-            _avgUpdateTime = (long)(_updateTimes.Average() / TimeSpan.TicksPerMillisecond);
-            _minUpdateTime = _updateTimes.Min() / TimeSpan.TicksPerMillisecond;
-            _maxUpdateTime = _updateTimes.Max() / TimeSpan.TicksPerMillisecond;
+            _samplingUpdateTime = _updateTimes.Sum() / (double)TimeSpan.TicksPerMillisecond;
+            _curUpdateTime = currentTime / (double)TimeSpan.TicksPerMillisecond;
+            _avgUpdateTime = (_updateTimes.Average() / (double)TimeSpan.TicksPerMillisecond);
+            _minUpdateTime = _updateTimes.Min() / (double)TimeSpan.TicksPerMillisecond;
+            _maxUpdateTime = _updateTimes.Max() / (double)TimeSpan.TicksPerMillisecond;
         }
 
         private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
@@ -374,27 +374,27 @@ namespace DotRecast.Recast.Toolset.Tools
             }
         }
 
-        public long GetCrowdUpdateSamplingTime()
+        public double GetCrowdUpdateSamplingTime()
         {
             return _samplingUpdateTime;
         }
 
-        public long GetCrowdUpdateTime()
+        public double GetCrowdUpdateTime()
         {
             return _curUpdateTime;
         }
 
-        public long GetCrowdUpdateAvgTime()
+        public double GetCrowdUpdateAvgTime()
         {
             return _avgUpdateTime;
         }
 
-        public long GetCrowdUpdateMinTime()
+        public double GetCrowdUpdateMinTime()
         {
             return _minUpdateTime;
         }
 
-        public long GetCrowdUpdateMaxTime()
+        public double GetCrowdUpdateMaxTime()
         {
             return _maxUpdateTime;
         }
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingToolConfig.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingToolConfig.cs
index 65794d1..6b6e753 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingToolConfig.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingToolConfig.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public class RcCrowdAgentProfilingToolConfig
     {
@@ -12,5 +12,7 @@
         public float percentTravellers = 15f;
         public int pathQueueSize = 32;
         public int maxIterations = 300;
+
+        public bool showAgents = true;
     }
 }
\ No newline at end of file

From 887294af1bfde6e44e06f7c7b5c47d06acde97ab Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 8 Aug 2024 22:54:03 +0900
Subject: [PATCH 123/147] upgrade BenchmarkDotNet 0.14.0

---
 test/DotRecast.Benchmark/DotRecast.Benchmark.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
index 1aa890c..f5d699c 100644
--- a/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
+++ b/test/DotRecast.Benchmark/DotRecast.Benchmark.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BenchmarkDotNet" Version="0.13.12" />
+    <PackageReference Include="BenchmarkDotNet" Version="0.14.0" />
   </ItemGroup>
 
   <ItemGroup>

From e6bea60db3cfe593ea1aaf0b14dcafcff1d0bc4a Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 12 Aug 2024 07:55:52 +0900
Subject: [PATCH 124/147] NUnit.Analyzers 4.3.0

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index 84b244d..d57de89 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index dfe93df..4c7f488 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 4579f09..b5cfb96 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index c9446ae..79de396 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index e8fb66b..bb2f9c6 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 56d3b4a..b32fae8 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index 09ddd22..de14231 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
-        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

From 201401b54f80ed58f1d2924e92856ac4c063a947 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 21 Aug 2024 13:58:04 +0900
Subject: [PATCH 125/147] update Microsoft.NET.Test.Sdk 17.11.0

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index d57de89..a1970d4 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 4c7f488..d6216d1 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index b5cfb96..d3ce549 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 79de396..46553ec 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index bb2f9c6..0c9dd55 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index b32fae8..ec044f2 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index de14231..66f48b6 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.10.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />

From 4a19d597c14e88ae55ae53e4759ba01e6a486426 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 24 Aug 2024 20:32:38 +0900
Subject: [PATCH 126/147] update Nunit 4.2.1

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index a1970d4..28877a8 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index d6216d1..8496536 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index d3ce549..4945832 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 46553ec..f920ed1 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index 0c9dd55..9a12084 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index ec044f2..1b65cee 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index 66f48b6..a841f0a 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.1.0" />
+        <PackageReference Include="NUnit" Version="4.2.1" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>

From e73ec9acdac2e38e392f10a7dfd33946905de786 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 24 Aug 2024 22:25:13 +0900
Subject: [PATCH 127/147] runtime comment

---
 src/DotRecast.Recast.Demo/RecastDemo.cs | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs
index e1d394f..26c26ca 100644
--- a/src/DotRecast.Recast.Demo/RecastDemo.cs
+++ b/src/DotRecast.Recast.Demo/RecastDemo.cs
@@ -25,6 +25,8 @@ using System.Globalization;
 using System.IO;
 using System.Linq;
 using System.Numerics;
+using System.Runtime;
+using System.Runtime.InteropServices;
 using DotRecast.Core;
 using Serilog;
 using Silk.NET.Input;
@@ -409,9 +411,17 @@ public class RecastDemo : IRecastDemoChannel
 
         var workingDirectory = Directory.GetCurrentDirectory();
         Logger.Information($"Working directory - {workingDirectory}");
-        Logger.Information($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
-        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
         Logger.Information($"OS Version - {Environment.OSVersion} {bitness}");
+        Logger.Information($"{RuntimeInformation.OSArchitecture} {RuntimeInformation.OSDescription}");
+        Logger.Information($"{RuntimeInformation.ProcessArchitecture} {RuntimeInformation.FrameworkDescription}");
+        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
+        Logger.Information($"Processor Count : {Environment.ProcessorCount}");
+
+        Logger.Information($"Server garbage collection : {(GCSettings.IsServerGC ? "Enabled" : "Disabled")}");
+        Logger.Information($"Current latency mode for garbage collection: {GCSettings.LatencyMode}");
+        Logger.Information("");
+
+        Logger.Information($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
         Logger.Information($"{vendor} {rendererGl}");
         Logger.Information($"gl version({version}) lang version({glslString})");
     }

From 1eb65ca8567f049ab9a01d40d686d9cd473af0a9 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 1 Sep 2024 22:22:34 +0900
Subject: [PATCH 128/147] NUnit 4.2.1

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index 28877a8..9cc23a7 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 8496536..1abc839 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 4945832..1ebf73f 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index f920ed1..4a05f06 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index 9a12084..548c2e1 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 1b65cee..f182038 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index a841f0a..b182cbf 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -9,7 +9,7 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.1" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>

From a9e4ca377d7a555bc227463c95b83e846a6c63d0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 5 Sep 2024 22:34:22 +0900
Subject: [PATCH 129/147] upgrade Moq 4.20.71

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index 9cc23a7..c569d2e 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 1abc839..1fab389 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 1ebf73f..5d6874e 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 4a05f06..8cd48c1 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index 548c2e1..6f61e31 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index f182038..094f222 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index b182cbf..b6907f6 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
-        <PackageReference Include="Moq" Version="4.20.70" />
+        <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">

From 1179f87d020f59d22ed4c0431607f83f3fe46d97 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 5 Sep 2024 22:37:33 +0900
Subject: [PATCH 130/147] Microsoft.NET.Test.Sdk 17.11.1

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index c569d2e..58477d5 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 1fab389..8b1de21 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 5d6874e..239a910 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 8cd48c1..0fdd78f 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index 6f61e31..7dc9d60 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 094f222..9881c96 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index b6907f6..3f6a099 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -7,7 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.0" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
         <PackageReference Include="Moq" Version="4.20.71" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />

From f18bedb02d449074561eb6a6efd0a3296525b2f0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 5 Sep 2024 22:57:28 +0900
Subject: [PATCH 131/147] force utf-8

---
 src/DotRecast.Core/Buffers/RcCyclicBuffer.cs                    | 2 +-
 src/DotRecast.Core/Buffers/RcCyclicBuffers.cs                   | 2 +-
 src/DotRecast.Core/Buffers/RcRentedArray.cs                     | 2 +-
 src/DotRecast.Core/Collections/CollectionExtensions.cs          | 2 +-
 src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs   | 2 +-
 src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs     | 2 +-
 src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs      | 2 +-
 src/DotRecast.Core/Collections/RcImmutableArray.cs              | 2 +-
 src/DotRecast.Core/Collections/RcStackArray128.cs               | 2 +-
 src/DotRecast.Core/Collections/RcStackArray16.cs                | 2 +-
 src/DotRecast.Core/Collections/RcStackArray2.cs                 | 2 +-
 src/DotRecast.Core/Collections/RcStackArray256.cs               | 2 +-
 src/DotRecast.Core/Collections/RcStackArray32.cs                | 2 +-
 src/DotRecast.Core/Collections/RcStackArray4.cs                 | 2 +-
 src/DotRecast.Core/Collections/RcStackArray512.cs               | 2 +-
 src/DotRecast.Core/Collections/RcStackArray64.cs                | 2 +-
 src/DotRecast.Core/Collections/RcStackArray8.cs                 | 2 +-
 src/DotRecast.Core/IRcRand.cs                                   | 2 +-
 src/DotRecast.Core/Numerics/RcMatrix4x4f.cs                     | 2 +-
 src/DotRecast.Core/Numerics/RcVec.cs                            | 2 +-
 src/DotRecast.Core/RcArrays.cs                                  | 2 +-
 src/DotRecast.Core/RcAtomicBoolean.cs                           | 2 +-
 src/DotRecast.Core/RcAtomicFloat.cs                             | 2 +-
 src/DotRecast.Core/RcAtomicInteger.cs                           | 2 +-
 src/DotRecast.Core/RcAtomicLong.cs                              | 2 +-
 src/DotRecast.Core/RcByteOrder.cs                               | 2 +-
 src/DotRecast.Core/RcDirectory.cs                               | 2 +-
 src/DotRecast.Core/RcEdge.cs                                    | 2 +-
 src/DotRecast.Core/RcFrequency.cs                               | 2 +-
 src/DotRecast.Core/RcHashCodes.cs                               | 2 +-
 src/DotRecast.Core/RcObjImporterContext.cs                      | 2 +-
 src/DotRecast.Core/RcProcess.cs                                 | 2 +-
 src/DotRecast.Core/RcRand.cs                                    | 2 +-
 src/DotRecast.Core/RcScopedTimer.cs                             | 2 +-
 src/DotRecast.Core/RcSegmentVert.cs                             | 2 +-
 src/DotRecast.Core/RcSpans.cs                                   | 2 +-
 src/DotRecast.Core/RcTelemetryTick.cs                           | 2 +-
 src/DotRecast.Core/RcThrowHelper.cs                             | 2 +-
 src/DotRecast.Core/RcTimerLabel.cs                              | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs                | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs                 | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs           | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdConst.cs                      | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs                  | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs                | 2 +-
 src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs                 | 2 +-
 src/DotRecast.Detour.Crowd/DtMoveRequestState.cs                | 2 +-
 src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs         | 2 +-
 src/DotRecast.Detour.Crowd/DtObstacleCircle.cs                  | 2 +-
 src/DotRecast.Detour.Crowd/DtObstacleSegment.cs                 | 2 +-
 src/DotRecast.Detour.Crowd/DtSegment.cs                         | 2 +-
 src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs         | 2 +-
 src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs         | 2 +-
 src/DotRecast.Detour.TileCache/DtObstacleBox.cs                 | 2 +-
 src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs            | 2 +-
 src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs         | 2 +-
 src/DotRecast.Detour.TileCache/DtTempContour.cs                 | 2 +-
 src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs   | 2 +-
 src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs       | 2 +-
 .../Io/Compress/DtTileCacheCompressorFactory.cs                 | 2 +-
 src/DotRecast.Detour/BVItem.cs                                  | 2 +-
 src/DotRecast.Detour/BVItemXComparer.cs                         | 2 +-
 src/DotRecast.Detour/BVItemYComparer.cs                         | 2 +-
 src/DotRecast.Detour/BVItemZComparer.cs                         | 2 +-
 src/DotRecast.Detour/DtCallbackPolyQuery.cs                     | 2 +-
 src/DotRecast.Detour/DtCollectPolysQuery.cs                     | 2 +-
 src/DotRecast.Detour/DtConnectPoly.cs                           | 2 +-
 src/DotRecast.Detour/DtConvexConvexInFlag.cs                    | 2 +-
 src/DotRecast.Detour/DtConvexConvexIntersection.cs              | 2 +-
 src/DotRecast.Detour/DtDetailTriEdgeFlags.cs                    | 2 +-
 src/DotRecast.Detour/DtDetour.cs                                | 2 +-
 src/DotRecast.Detour/DtFindPathOption.cs                        | 2 +-
 src/DotRecast.Detour/DtFindPathOptions.cs                       | 2 +-
 src/DotRecast.Detour/DtNavMeshQueryMock.cs                      | 2 +-
 src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs       | 2 +-
 src/DotRecast.Detour/DtNodeFlags.cs                             | 2 +-
 src/DotRecast.Detour/DtPolyPoint.cs                             | 2 +-
 src/DotRecast.Detour/DtPolyTypes.cs                             | 2 +-
 src/DotRecast.Detour/DtQueryEmptyFilter.cs                      | 2 +-
 src/DotRecast.Detour/DtQueryNoOpFilter.cs                       | 2 +-
 src/DotRecast.Detour/DtRaycastOptions.cs                        | 2 +-
 src/DotRecast.Detour/DtSegInterval.cs                           | 2 +-
 src/DotRecast.Detour/DtStraightPathFlags.cs                     | 2 +-
 src/DotRecast.Detour/DtStraightPathOption.cs                    | 2 +-
 src/DotRecast.Detour/DtStraightPathOptions.cs                   | 2 +-
 src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs     | 2 +-
 src/DotRecast.Detour/DtUtils.cs                                 | 2 +-
 src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs       | 2 +-
 src/DotRecast.Recast.Demo/KeyModState.cs                        | 2 +-
 src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs        | 2 +-
 src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs        | 2 +-
 src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs        | 2 +-
 src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs    | 2 +-
 src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs     | 2 +-
 src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs     | 2 +-
 src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs              | 2 +-
 src/DotRecast.Recast.Demo/Program.cs                            | 2 +-
 src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs                | 2 +-
 src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs           | 2 +-
 src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs               | 2 +-
 src/DotRecast.Recast.Demo/UI/ImFilePicker.cs                    | 2 +-
 src/DotRecast.Recast.Demo/UI/RcLogView.cs                       | 2 +-
 src/DotRecast.Recast.Demo/UI/RcMenuView.cs                      | 2 +-
 src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs       | 2 +-
 src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs      | 2 +-
 src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs | 2 +-
 src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs         | 2 +-
 src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs                  | 2 +-
 src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs           | 2 +-
 src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs            | 2 +-
 src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs           | 2 +-
 src/DotRecast.Recast.Toolset/IRcToolable.cs                     | 2 +-
 src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs          | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs        | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs          | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentTrail.cs         | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentType.cs          | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs               | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcCrowdToolMode.cs           | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcDynamicColliderShape.cs    | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs       | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateToolMode.cs   | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs     | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs            | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs   | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs         | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcTestNavmeshToolMode.cs     | 2 +-
 src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs                | 2 +-
 src/DotRecast.Recast/EdgeValues.cs                              | 2 +-
 src/DotRecast.Recast/Geom/BoundsItem.cs                         | 2 +-
 src/DotRecast.Recast/Geom/BoundsItemXComparer.cs                | 2 +-
 src/DotRecast.Recast/Geom/BoundsItemYComparer.cs                | 2 +-
 src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs                | 2 +-
 src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs                   | 2 +-
 src/DotRecast.Recast/IRcBuilderProgressListener.cs              | 2 +-
 src/DotRecast.Recast/RcAxis.cs                                  | 2 +-
 src/DotRecast.Recast/RcBuildContoursFlags.cs                    | 2 +-
 src/DotRecast.Recast/RcBuilderResult.cs                         | 2 +-
 src/DotRecast.Recast/RcCompactSpanBuilder.cs                    | 2 +-
 src/DotRecast.Recast/RcContourHole.cs                           | 2 +-
 src/DotRecast.Recast/RcContourHoleComparer.cs                   | 2 +-
 src/DotRecast.Recast/RcContourRegion.cs                         | 2 +-
 src/DotRecast.Recast/RcDirtyEntry.cs                            | 2 +-
 src/DotRecast.Recast/RcHeightPatch.cs                           | 2 +-
 src/DotRecast.Recast/RcHeightfieldLayer.cs                      | 2 +-
 src/DotRecast.Recast/RcLayerRegion.cs                           | 2 +-
 src/DotRecast.Recast/RcLayerSweepSpan.cs                        | 2 +-
 src/DotRecast.Recast/RcLevelStackEntry.cs                       | 2 +-
 src/DotRecast.Recast/RcPartition.cs                             | 2 +-
 src/DotRecast.Recast/RcPartitionType.cs                         | 2 +-
 src/DotRecast.Recast/RcPotentialDiagonalComparer.cs             | 2 +-
 src/DotRecast.Recast/RcRegion.cs                                | 2 +-
 src/DotRecast.Recast/RcSpanPool.cs                              | 2 +-
 src/DotRecast.Recast/RcSweepSpan.cs                             | 2 +-
 test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs               | 2 +-
 test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs                 | 2 +-
 test/DotRecast.Core.Test/RcCyclicBufferTest.cs                  | 2 +-
 test/DotRecast.Core.Test/RcHashCodesTest.cs                     | 2 +-
 test/DotRecast.Core.Test/RcIoTests.cs                           | 2 +-
 test/DotRecast.Core.Test/RcMathTest.cs                          | 2 +-
 test/DotRecast.Core.Test/RcRentedArrayTest.cs                   | 2 +-
 test/DotRecast.Core.Test/RcSortedQueueTest.cs                   | 2 +-
 test/DotRecast.Core.Test/RcSpanTest.cs                          | 2 +-
 test/DotRecast.Core.Test/RcStackArrayTest.cs                    | 2 +-
 test/DotRecast.Core.Test/Vector3Test.cs                         | 2 +-
 test/DotRecast.Detour.Test/DtNodePoolTest.cs                    | 2 +-
 test/DotRecast.Detour.Test/DtNodeQueueTest.cs                   | 2 +-
 test/DotRecast.Detour.Test/FindCollectPolyTest.cs               | 2 +-
 .../DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs | 2 +-
 .../TileCacheTestSetUpFixture.cs                                | 2 +-
 170 files changed, 170 insertions(+), 170 deletions(-)

diff --git a/src/DotRecast.Core/Buffers/RcCyclicBuffer.cs b/src/DotRecast.Core/Buffers/RcCyclicBuffer.cs
index 343e821..579c7e3 100644
--- a/src/DotRecast.Core/Buffers/RcCyclicBuffer.cs
+++ b/src/DotRecast.Core/Buffers/RcCyclicBuffer.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Net.Security;
diff --git a/src/DotRecast.Core/Buffers/RcCyclicBuffers.cs b/src/DotRecast.Core/Buffers/RcCyclicBuffers.cs
index fc94285..8f807d2 100644
--- a/src/DotRecast.Core/Buffers/RcCyclicBuffers.cs
+++ b/src/DotRecast.Core/Buffers/RcCyclicBuffers.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Numerics;
 using System.Runtime.InteropServices;
 
diff --git a/src/DotRecast.Core/Buffers/RcRentedArray.cs b/src/DotRecast.Core/Buffers/RcRentedArray.cs
index 85800c5..68f12c7 100644
--- a/src/DotRecast.Core/Buffers/RcRentedArray.cs
+++ b/src/DotRecast.Core/Buffers/RcRentedArray.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Buffers;
 using System.Runtime.CompilerServices;
 
diff --git a/src/DotRecast.Core/Collections/CollectionExtensions.cs b/src/DotRecast.Core/Collections/CollectionExtensions.cs
index 24d01fc..82f5f5c 100644
--- a/src/DotRecast.Core/Collections/CollectionExtensions.cs
+++ b/src/DotRecast.Core/Collections/CollectionExtensions.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs b/src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs
index c9ba186..be4a11f 100644
--- a/src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs
+++ b/src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 
diff --git a/src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs b/src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs
index 253a5e1..f917dc9 100644
--- a/src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs
+++ b/src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs b/src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs
index 335f6c1..5e51680 100644
--- a/src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs
+++ b/src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Core.Collections
+namespace DotRecast.Core.Collections
 {
     public readonly partial struct RcImmutableArray<T>
     {
diff --git a/src/DotRecast.Core/Collections/RcImmutableArray.cs b/src/DotRecast.Core/Collections/RcImmutableArray.cs
index 65fa86c..33f7443 100644
--- a/src/DotRecast.Core/Collections/RcImmutableArray.cs
+++ b/src/DotRecast.Core/Collections/RcImmutableArray.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core.Collections
 {
diff --git a/src/DotRecast.Core/Collections/RcStackArray128.cs b/src/DotRecast.Core/Collections/RcStackArray128.cs
index d80afad..f1eeeb0 100644
--- a/src/DotRecast.Core/Collections/RcStackArray128.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray128.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray16.cs b/src/DotRecast.Core/Collections/RcStackArray16.cs
index df3cb4f..45b5aa6 100644
--- a/src/DotRecast.Core/Collections/RcStackArray16.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray16.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray2.cs b/src/DotRecast.Core/Collections/RcStackArray2.cs
index 30affc0..b04374b 100644
--- a/src/DotRecast.Core/Collections/RcStackArray2.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray2.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray256.cs b/src/DotRecast.Core/Collections/RcStackArray256.cs
index 8dec9b9..07d2048 100644
--- a/src/DotRecast.Core/Collections/RcStackArray256.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray256.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray32.cs b/src/DotRecast.Core/Collections/RcStackArray32.cs
index acd5e06..ea5d5d9 100644
--- a/src/DotRecast.Core/Collections/RcStackArray32.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray32.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray4.cs b/src/DotRecast.Core/Collections/RcStackArray4.cs
index 38d5133..40182e7 100644
--- a/src/DotRecast.Core/Collections/RcStackArray4.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray4.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray512.cs b/src/DotRecast.Core/Collections/RcStackArray512.cs
index 95b59ae..e8c4be5 100644
--- a/src/DotRecast.Core/Collections/RcStackArray512.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray512.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray64.cs b/src/DotRecast.Core/Collections/RcStackArray64.cs
index 5aa88a3..55dbd08 100644
--- a/src/DotRecast.Core/Collections/RcStackArray64.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray64.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/Collections/RcStackArray8.cs b/src/DotRecast.Core/Collections/RcStackArray8.cs
index 75e1b15..bdaf0cc 100644
--- a/src/DotRecast.Core/Collections/RcStackArray8.cs
+++ b/src/DotRecast.Core/Collections/RcStackArray8.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections
diff --git a/src/DotRecast.Core/IRcRand.cs b/src/DotRecast.Core/IRcRand.cs
index 15e810a..723eb65 100644
--- a/src/DotRecast.Core/IRcRand.cs
+++ b/src/DotRecast.Core/IRcRand.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public interface IRcRand
     {
diff --git a/src/DotRecast.Core/Numerics/RcMatrix4x4f.cs b/src/DotRecast.Core/Numerics/RcMatrix4x4f.cs
index 2a09dec..648cad6 100644
--- a/src/DotRecast.Core/Numerics/RcMatrix4x4f.cs
+++ b/src/DotRecast.Core/Numerics/RcMatrix4x4f.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics
diff --git a/src/DotRecast.Core/Numerics/RcVec.cs b/src/DotRecast.Core/Numerics/RcVec.cs
index aa847ee..69aae7d 100644
--- a/src/DotRecast.Core/Numerics/RcVec.cs
+++ b/src/DotRecast.Core/Numerics/RcVec.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics
diff --git a/src/DotRecast.Core/RcArrays.cs b/src/DotRecast.Core/RcArrays.cs
index e8c291a..af5452d 100644
--- a/src/DotRecast.Core/RcArrays.cs
+++ b/src/DotRecast.Core/RcArrays.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
diff --git a/src/DotRecast.Core/RcAtomicBoolean.cs b/src/DotRecast.Core/RcAtomicBoolean.cs
index a2bb9f3..b8f6d37 100644
--- a/src/DotRecast.Core/RcAtomicBoolean.cs
+++ b/src/DotRecast.Core/RcAtomicBoolean.cs
@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcAtomicFloat.cs b/src/DotRecast.Core/RcAtomicFloat.cs
index 21e7886..3c92490 100644
--- a/src/DotRecast.Core/RcAtomicFloat.cs
+++ b/src/DotRecast.Core/RcAtomicFloat.cs
@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcAtomicInteger.cs b/src/DotRecast.Core/RcAtomicInteger.cs
index 46596ef..468ea13 100644
--- a/src/DotRecast.Core/RcAtomicInteger.cs
+++ b/src/DotRecast.Core/RcAtomicInteger.cs
@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcAtomicLong.cs b/src/DotRecast.Core/RcAtomicLong.cs
index f224ffa..5eb22e8 100644
--- a/src/DotRecast.Core/RcAtomicLong.cs
+++ b/src/DotRecast.Core/RcAtomicLong.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Threading;
 
 namespace DotRecast.Core
diff --git a/src/DotRecast.Core/RcByteOrder.cs b/src/DotRecast.Core/RcByteOrder.cs
index 0313a63..ef16ae2 100644
--- a/src/DotRecast.Core/RcByteOrder.cs
+++ b/src/DotRecast.Core/RcByteOrder.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public enum RcByteOrder
     {
diff --git a/src/DotRecast.Core/RcDirectory.cs b/src/DotRecast.Core/RcDirectory.cs
index 46a5362..f26eb1f 100644
--- a/src/DotRecast.Core/RcDirectory.cs
+++ b/src/DotRecast.Core/RcDirectory.cs
@@ -1,4 +1,4 @@
-using System.IO;
+using System.IO;
 using System.Linq;
 
 namespace DotRecast.Core
diff --git a/src/DotRecast.Core/RcEdge.cs b/src/DotRecast.Core/RcEdge.cs
index ebfd7d8..6838252 100644
--- a/src/DotRecast.Core/RcEdge.cs
+++ b/src/DotRecast.Core/RcEdge.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public class RcEdge
     {
diff --git a/src/DotRecast.Core/RcFrequency.cs b/src/DotRecast.Core/RcFrequency.cs
index eae3a32..9a8533b 100644
--- a/src/DotRecast.Core/RcFrequency.cs
+++ b/src/DotRecast.Core/RcFrequency.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Diagnostics;
 
 namespace DotRecast.Core
diff --git a/src/DotRecast.Core/RcHashCodes.cs b/src/DotRecast.Core/RcHashCodes.cs
index 3202c9a..c86426c 100644
--- a/src/DotRecast.Core/RcHashCodes.cs
+++ b/src/DotRecast.Core/RcHashCodes.cs
@@ -1,4 +1,4 @@
-using System.Runtime.CompilerServices;
+using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcObjImporterContext.cs b/src/DotRecast.Core/RcObjImporterContext.cs
index a08deaf..d79750e 100644
--- a/src/DotRecast.Core/RcObjImporterContext.cs
+++ b/src/DotRecast.Core/RcObjImporterContext.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcProcess.cs b/src/DotRecast.Core/RcProcess.cs
index 05987ae..00df319 100644
--- a/src/DotRecast.Core/RcProcess.cs
+++ b/src/DotRecast.Core/RcProcess.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Diagnostics;
 using System.Runtime.InteropServices;
 
diff --git a/src/DotRecast.Core/RcRand.cs b/src/DotRecast.Core/RcRand.cs
index 6111aff..b523e13 100644
--- a/src/DotRecast.Core/RcRand.cs
+++ b/src/DotRecast.Core/RcRand.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcScopedTimer.cs b/src/DotRecast.Core/RcScopedTimer.cs
index 6b84e28..5848c75 100644
--- a/src/DotRecast.Core/RcScopedTimer.cs
+++ b/src/DotRecast.Core/RcScopedTimer.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcSegmentVert.cs b/src/DotRecast.Core/RcSegmentVert.cs
index 7cab398..10dca98 100644
--- a/src/DotRecast.Core/RcSegmentVert.cs
+++ b/src/DotRecast.Core/RcSegmentVert.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcSpans.cs b/src/DotRecast.Core/RcSpans.cs
index be7f832..3222a1a 100644
--- a/src/DotRecast.Core/RcSpans.cs
+++ b/src/DotRecast.Core/RcSpans.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
diff --git a/src/DotRecast.Core/RcTelemetryTick.cs b/src/DotRecast.Core/RcTelemetryTick.cs
index 535f086..06ccadc 100644
--- a/src/DotRecast.Core/RcTelemetryTick.cs
+++ b/src/DotRecast.Core/RcTelemetryTick.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {
diff --git a/src/DotRecast.Core/RcThrowHelper.cs b/src/DotRecast.Core/RcThrowHelper.cs
index b3f484b..d69c433 100644
--- a/src/DotRecast.Core/RcThrowHelper.cs
+++ b/src/DotRecast.Core/RcThrowHelper.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 using DotRecast.Core.Collections;
 
diff --git a/src/DotRecast.Core/RcTimerLabel.cs b/src/DotRecast.Core/RcTimerLabel.cs
index 4492cf0..0fbe4ef 100644
--- a/src/DotRecast.Core/RcTimerLabel.cs
+++ b/src/DotRecast.Core/RcTimerLabel.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     /// Recast performance timer categories.
     /// @see rcContext
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs
index d22a053..fa1db0f 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtCrowdAgentConfig
     {
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs
index eda9251..8e407a3 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// The type of navigation mesh polygon the agent is currently traversing.
     /// @ingroup crowd
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs b/src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs
index 6a69b1b..706be0c 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// Crowd agent update flags.
     /// @ingroup crowd
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdConst.cs b/src/DotRecast.Detour.Crowd/DtCrowdConst.cs
index 596a4a9..3b26b04 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdConst.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdConst.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public static class DtCrowdConst
     {
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs b/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
index 65fe15c..a790fa5 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// Provides neighbor data for agents managed by the crowd.
     /// @ingroup crowd
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs b/src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs
index a78e69b..967f518 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Detour.Crowd
 {
diff --git a/src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs b/src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs
index f7246c1..0121f80 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtCrowdTimerLabel
     {
diff --git a/src/DotRecast.Detour.Crowd/DtMoveRequestState.cs b/src/DotRecast.Detour.Crowd/DtMoveRequestState.cs
index 5bfc329..e9fee25 100644
--- a/src/DotRecast.Detour.Crowd/DtMoveRequestState.cs
+++ b/src/DotRecast.Detour.Crowd/DtMoveRequestState.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public enum DtMoveRequestState
     {
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
index 6b8ac87..81747df 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceParams
     {
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleCircle.cs b/src/DotRecast.Detour.Crowd/DtObstacleCircle.cs
index ba90aaf..f333a90 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleCircle.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleCircle.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleSegment.cs b/src/DotRecast.Detour.Crowd/DtObstacleSegment.cs
index 6eab18c..4a9c805 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleSegment.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleSegment.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
diff --git a/src/DotRecast.Detour.Crowd/DtSegment.cs b/src/DotRecast.Detour.Crowd/DtSegment.cs
index a7e3a95..fada549 100644
--- a/src/DotRecast.Detour.Crowd/DtSegment.cs
+++ b/src/DotRecast.Detour.Crowd/DtSegment.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
diff --git a/src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs b/src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs
index a51dc6a..e45ccd0 100644
--- a/src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs
+++ b/src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.TileCache
+namespace DotRecast.Detour.TileCache
 {
     /// Flags for addTile
     public class DtCompressedTileFlags
diff --git a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
index 375810a..454eeb3 100644
--- a/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
+++ b/src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour.TileCache
 {
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleBox.cs b/src/DotRecast.Detour.TileCache/DtObstacleBox.cs
index eda300f..9c56917 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleBox.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleBox.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs b/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
index cd0202c..ff1168c 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
diff --git a/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs b/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs
index 05bbc59..2d2d0c4 100644
--- a/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs
+++ b/src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
diff --git a/src/DotRecast.Detour.TileCache/DtTempContour.cs b/src/DotRecast.Detour.TileCache/DtTempContour.cs
index 6ac055e..208c8e4 100644
--- a/src/DotRecast.Detour.TileCache/DtTempContour.cs
+++ b/src/DotRecast.Detour.TileCache/DtTempContour.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour.TileCache
 {
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs
index 661fb2e..2ff971b 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.Threading.Tasks;
 
 namespace DotRecast.Detour.TileCache
diff --git a/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs b/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
index 3aa75f7..4d712d6 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.TileCache
+namespace DotRecast.Detour.TileCache
 {
     public enum DtTileCacheObstacleType
     {
diff --git a/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheCompressorFactory.cs b/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheCompressorFactory.cs
index 81e215f..f50c9b1 100644
--- a/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheCompressorFactory.cs
+++ b/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheCompressorFactory.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io.Compress
diff --git a/src/DotRecast.Detour/BVItem.cs b/src/DotRecast.Detour/BVItem.cs
index bcc2964..aebbaea 100644
--- a/src/DotRecast.Detour/BVItem.cs
+++ b/src/DotRecast.Detour/BVItem.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public class BVItem
     {
diff --git a/src/DotRecast.Detour/BVItemXComparer.cs b/src/DotRecast.Detour/BVItemXComparer.cs
index 7f24ff8..c3f51ca 100644
--- a/src/DotRecast.Detour/BVItemXComparer.cs
+++ b/src/DotRecast.Detour/BVItemXComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/BVItemYComparer.cs b/src/DotRecast.Detour/BVItemYComparer.cs
index 40d7d8e..e52aae8 100644
--- a/src/DotRecast.Detour/BVItemYComparer.cs
+++ b/src/DotRecast.Detour/BVItemYComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/BVItemZComparer.cs b/src/DotRecast.Detour/BVItemZComparer.cs
index 103d051..cd78da7 100644
--- a/src/DotRecast.Detour/BVItemZComparer.cs
+++ b/src/DotRecast.Detour/BVItemZComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtCallbackPolyQuery.cs b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
index 088b366..77f626f 100644
--- a/src/DotRecast.Detour/DtCallbackPolyQuery.cs
+++ b/src/DotRecast.Detour/DtCallbackPolyQuery.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtCollectPolysQuery.cs b/src/DotRecast.Detour/DtCollectPolysQuery.cs
index 4b5c998..e98daa7 100644
--- a/src/DotRecast.Detour/DtCollectPolysQuery.cs
+++ b/src/DotRecast.Detour/DtCollectPolysQuery.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 
 namespace DotRecast.Detour
diff --git a/src/DotRecast.Detour/DtConnectPoly.cs b/src/DotRecast.Detour/DtConnectPoly.cs
index c0b42d8..2b70be7 100644
--- a/src/DotRecast.Detour/DtConnectPoly.cs
+++ b/src/DotRecast.Detour/DtConnectPoly.cs
@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtConvexConvexInFlag.cs b/src/DotRecast.Detour/DtConvexConvexInFlag.cs
index cbfe2ea..61b0ec0 100644
--- a/src/DotRecast.Detour/DtConvexConvexInFlag.cs
+++ b/src/DotRecast.Detour/DtConvexConvexInFlag.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public enum DtConvexConvexInFlag
     {
diff --git a/src/DotRecast.Detour/DtConvexConvexIntersection.cs b/src/DotRecast.Detour/DtConvexConvexIntersection.cs
index a53f8ac..459a243 100644
--- a/src/DotRecast.Detour/DtConvexConvexIntersection.cs
+++ b/src/DotRecast.Detour/DtConvexConvexIntersection.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public enum DtConvexConvexIntersection
     {
diff --git a/src/DotRecast.Detour/DtDetailTriEdgeFlags.cs b/src/DotRecast.Detour/DtDetailTriEdgeFlags.cs
index cfd420e..df30c7b 100644
--- a/src/DotRecast.Detour/DtDetailTriEdgeFlags.cs
+++ b/src/DotRecast.Detour/DtDetailTriEdgeFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public static class DtDetailTriEdgeFlags
     {
diff --git a/src/DotRecast.Detour/DtDetour.cs b/src/DotRecast.Detour/DtDetour.cs
index c164541..cd39baf 100644
--- a/src/DotRecast.Detour/DtDetour.cs
+++ b/src/DotRecast.Detour/DtDetour.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtFindPathOption.cs b/src/DotRecast.Detour/DtFindPathOption.cs
index 0d4b1c3..6739b0b 100644
--- a/src/DotRecast.Detour/DtFindPathOption.cs
+++ b/src/DotRecast.Detour/DtFindPathOption.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public readonly struct DtFindPathOption
     {
diff --git a/src/DotRecast.Detour/DtFindPathOptions.cs b/src/DotRecast.Detour/DtFindPathOptions.cs
index c26d0f5..98d7e04 100644
--- a/src/DotRecast.Detour/DtFindPathOptions.cs
+++ b/src/DotRecast.Detour/DtFindPathOptions.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
     public static class DtFindPathOptions
diff --git a/src/DotRecast.Detour/DtNavMeshQueryMock.cs b/src/DotRecast.Detour/DtNavMeshQueryMock.cs
index d9e6275..3d9ec99 100644
--- a/src/DotRecast.Detour/DtNavMeshQueryMock.cs
+++ b/src/DotRecast.Detour/DtNavMeshQueryMock.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 
diff --git a/src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs b/src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs
index 01cc576..e5d2651 100644
--- a/src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtNodeFlags.cs b/src/DotRecast.Detour/DtNodeFlags.cs
index d204ad4..d383b8e 100644
--- a/src/DotRecast.Detour/DtNodeFlags.cs
+++ b/src/DotRecast.Detour/DtNodeFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public static class DtNodeFlags
     {
diff --git a/src/DotRecast.Detour/DtPolyPoint.cs b/src/DotRecast.Detour/DtPolyPoint.cs
index 0ca78c0..fb46073 100644
--- a/src/DotRecast.Detour/DtPolyPoint.cs
+++ b/src/DotRecast.Detour/DtPolyPoint.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtPolyTypes.cs b/src/DotRecast.Detour/DtPolyTypes.cs
index 2d26de8..5af6048 100644
--- a/src/DotRecast.Detour/DtPolyTypes.cs
+++ b/src/DotRecast.Detour/DtPolyTypes.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Flags representing the type of a navigation mesh polygon.
     public static class DtPolyTypes
diff --git a/src/DotRecast.Detour/DtQueryEmptyFilter.cs b/src/DotRecast.Detour/DtQueryEmptyFilter.cs
index 28a722c..35dd37e 100644
--- a/src/DotRecast.Detour/DtQueryEmptyFilter.cs
+++ b/src/DotRecast.Detour/DtQueryEmptyFilter.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtQueryNoOpFilter.cs b/src/DotRecast.Detour/DtQueryNoOpFilter.cs
index f7e0574..659ff01 100644
--- a/src/DotRecast.Detour/DtQueryNoOpFilter.cs
+++ b/src/DotRecast.Detour/DtQueryNoOpFilter.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
diff --git a/src/DotRecast.Detour/DtRaycastOptions.cs b/src/DotRecast.Detour/DtRaycastOptions.cs
index 62bbef9..3d8470f 100644
--- a/src/DotRecast.Detour/DtRaycastOptions.cs
+++ b/src/DotRecast.Detour/DtRaycastOptions.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::raycast
     public static class DtRaycastOptions
diff --git a/src/DotRecast.Detour/DtSegInterval.cs b/src/DotRecast.Detour/DtSegInterval.cs
index 179c198..72240c2 100644
--- a/src/DotRecast.Detour/DtSegInterval.cs
+++ b/src/DotRecast.Detour/DtSegInterval.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public readonly struct DtSegInterval
     {
diff --git a/src/DotRecast.Detour/DtStraightPathFlags.cs b/src/DotRecast.Detour/DtStraightPathFlags.cs
index 2d867c4..09c6139 100644
--- a/src/DotRecast.Detour/DtStraightPathFlags.cs
+++ b/src/DotRecast.Detour/DtStraightPathFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Vertex flags returned by dtNavMeshQuery::findStraightPath.
     public static class DtStraightPathFlags
diff --git a/src/DotRecast.Detour/DtStraightPathOption.cs b/src/DotRecast.Detour/DtStraightPathOption.cs
index 9696c0d..79577d9 100644
--- a/src/DotRecast.Detour/DtStraightPathOption.cs
+++ b/src/DotRecast.Detour/DtStraightPathOption.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using DotRecast.Core.Collections;
 
 namespace DotRecast.Detour
diff --git a/src/DotRecast.Detour/DtStraightPathOptions.cs b/src/DotRecast.Detour/DtStraightPathOptions.cs
index c2428f9..ef907e0 100644
--- a/src/DotRecast.Detour/DtStraightPathOptions.cs
+++ b/src/DotRecast.Detour/DtStraightPathOptions.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::findStraightPath.
     public static class DtStraightPathOptions
diff --git a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
index 4e94b91..47bf30e 100644
--- a/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 1e74375..9b65bf7 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
diff --git a/src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs b/src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs
index 8085dfb..a2c4b50 100644
--- a/src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs
+++ b/src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 using K4os.Compression.LZ4;
 
diff --git a/src/DotRecast.Recast.Demo/KeyModState.cs b/src/DotRecast.Recast.Demo/KeyModState.cs
index c0af30b..220dec6 100644
--- a/src/DotRecast.Recast.Demo/KeyModState.cs
+++ b/src/DotRecast.Recast.Demo/KeyModState.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo;
+namespace DotRecast.Recast.Demo;
 
 public static class KeyModState
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs b/src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs
index c4fffb8..901659e 100644
--- a/src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs
+++ b/src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class GeomLoadBeganEvent : IRecastDemoMessage
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs b/src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs
index 677f2f0..a4d25ae 100644
--- a/src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs
+++ b/src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public interface IRecastDemoChannel
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs b/src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs
index 810ffc9..9c62a7d 100644
--- a/src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs
+++ b/src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class IRecastDemoMessage
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs b/src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs
index 2388c72..c321a26 100644
--- a/src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs
+++ b/src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshBuildBeganEvent : IRecastDemoMessage
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs b/src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs
index e549788..4bd41f6 100644
--- a/src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs
+++ b/src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshLoadBeganEvent : IRecastDemoMessage
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs b/src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs
index 1f32146..7f34e4a 100644
--- a/src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs
+++ b/src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshSaveBeganEvent : IRecastDemoMessage
 {
diff --git a/src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs b/src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs
index da45ce3..cf64ece 100644
--- a/src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs
+++ b/src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Messages;
 
diff --git a/src/DotRecast.Recast.Demo/Program.cs b/src/DotRecast.Recast.Demo/Program.cs
index 6789bf2..adab02a 100644
--- a/src/DotRecast.Recast.Demo/Program.cs
+++ b/src/DotRecast.Recast.Demo/Program.cs
@@ -1,4 +1,4 @@
-using System.IO;
+using System.IO;
 using System.Threading;
 using DotRecast.Core;
 using DotRecast.Recast.Demo.Logging.Sinks;
diff --git a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
index 993b50b..3d118d1 100644
--- a/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
+++ b/src/DotRecast.Recast.Demo/Tools/GizmoRenderer.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Demo.Draw;
diff --git a/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
index 216f7f3..ae4ee66 100644
--- a/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.TileCache;
 using DotRecast.Detour.TileCache.Io.Compress;
diff --git a/src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs
index 5b33b99..40dd239 100644
--- a/src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TileSampleTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Toolset;
diff --git a/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs b/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
index 9ab2547..329554a 100644
--- a/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
+++ b/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 
 using System.Collections.Generic;
 using System.Collections.Immutable;
diff --git a/src/DotRecast.Recast.Demo/UI/RcLogView.cs b/src/DotRecast.Recast.Demo/UI/RcLogView.cs
index a308895..fbdb7c2 100644
--- a/src/DotRecast.Recast.Demo/UI/RcLogView.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcLogView.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Linq;
diff --git a/src/DotRecast.Recast.Demo/UI/RcMenuView.cs b/src/DotRecast.Recast.Demo/UI/RcMenuView.cs
index e727a82..6723951 100644
--- a/src/DotRecast.Recast.Demo/UI/RcMenuView.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcMenuView.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using ImGuiNET;
 
 namespace DotRecast.Recast.Demo.UI;
diff --git a/src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs b/src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs
index cba0b0d..19cf614 100644
--- a/src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs
+++ b/src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.UI.ViewModels;
+namespace DotRecast.Recast.Demo.UI.ViewModels;
 
 public class LogMessageItem
 {
diff --git a/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs b/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
index 6c93ad0..b4f1ce2 100644
--- a/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Detour;
 
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs b/src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs
index 87818d1..bbea580 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs
@@ -1,4 +1,4 @@
-using DotRecast.Detour;
+using DotRecast.Detour;
 using DotRecast.Detour.TileCache;
 using DotRecast.Recast.Geom;
 using DotRecast.Recast.Toolset.Builder;
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs
index 525d38c..7d75f8c 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Gizmos
+namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcCompositeGizmo : IRcGizmoMeshFilter
     {
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs
index da94d8d..2b8ffec 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs
@@ -1,4 +1,4 @@
-using DotRecast.Detour.Dynamic.Colliders;
+using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Recast.Toolset.Gizmos;
 
 namespace DotRecast.Recast.Toolset.Gizmos
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs
index c1b86be..fe45554 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Toolset.Gizmos
 {
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
index 0e9cb70..bd899a3 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
 
 namespace DotRecast.Recast.Toolset.Gizmos
diff --git a/src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs b/src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs
index 4860e96..c8738fa 100644
--- a/src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs
+++ b/src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Gizmos
+namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcTrimeshGizmo : IRcGizmoMeshFilter
     {
diff --git a/src/DotRecast.Recast.Toolset/IRcToolable.cs b/src/DotRecast.Recast.Toolset/IRcToolable.cs
index 564ead1..25aa12b 100644
--- a/src/DotRecast.Recast.Toolset/IRcToolable.cs
+++ b/src/DotRecast.Recast.Toolset/IRcToolable.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset
+namespace DotRecast.Recast.Toolset
 {
     public interface IRcToolable
     {
diff --git a/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs b/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
index 86d9df6..ea70e2b 100644
--- a/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
+++ b/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset
+namespace DotRecast.Recast.Toolset
 {
     public class RcNavMeshBuildSettings
     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs
index 21e131c..94674f1 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs
index 96b6e22..800381b 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentData.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentTrail.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentTrail.cs
index 1717620..cb4f52d 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentTrail.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentTrail.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public class RcCrowdAgentTrail
     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentType.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentType.cs
index 1fce64c..ee0685b 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentType.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentType.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public enum RcCrowdAgentType
     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
index c78e406..e79a902 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdToolMode.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdToolMode.cs
index 65f9440..7ac09f1 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdToolMode.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdToolMode.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicColliderShape.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicColliderShape.cs
index 9ea240a..55733d5 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcDynamicColliderShape.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcDynamicColliderShape.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public enum RcDynamicColliderShape
     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
index f5e2ac5..9be7417 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateToolMode.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateToolMode.cs
index a7125d5..c2525d8 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateToolMode.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateToolMode.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
index 017d180..41cc023 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcJumpLinkBuilderTool.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Extras.Jumplink;
 using DotRecast.Recast.Geom;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
index 47c9416..b26fc87 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
index f7ae779..e179693 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 using DotRecast.Recast.Toolset.Builder;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 150a1d7..4199c74 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavmeshToolMode.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavmeshToolMode.cs
index 64159a9..fe829ef 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavmeshToolMode.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavmeshToolMode.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
index b4410c5..c59ab28 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs
@@ -1,4 +1,4 @@
-using System.Linq;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
diff --git a/src/DotRecast.Recast/EdgeValues.cs b/src/DotRecast.Recast/EdgeValues.cs
index 3b148aa..823f50a 100644
--- a/src/DotRecast.Recast/EdgeValues.cs
+++ b/src/DotRecast.Recast/EdgeValues.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public static class EdgeValues
     {
diff --git a/src/DotRecast.Recast/Geom/BoundsItem.cs b/src/DotRecast.Recast/Geom/BoundsItem.cs
index d9e9f99..5255ebe 100644
--- a/src/DotRecast.Recast/Geom/BoundsItem.cs
+++ b/src/DotRecast.Recast/Geom/BoundsItem.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
diff --git a/src/DotRecast.Recast/Geom/BoundsItemXComparer.cs b/src/DotRecast.Recast/Geom/BoundsItemXComparer.cs
index 133a672..3d630f3 100644
--- a/src/DotRecast.Recast/Geom/BoundsItemXComparer.cs
+++ b/src/DotRecast.Recast/Geom/BoundsItemXComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
diff --git a/src/DotRecast.Recast/Geom/BoundsItemYComparer.cs b/src/DotRecast.Recast/Geom/BoundsItemYComparer.cs
index e97966f..78a8970 100644
--- a/src/DotRecast.Recast/Geom/BoundsItemYComparer.cs
+++ b/src/DotRecast.Recast/Geom/BoundsItemYComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {
diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs
index 830c6c1..0430c10 100644
--- a/src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
index e7f1f8c..795f57f 100644
--- a/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
@@ -1,4 +1,4 @@
-/*
+/*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
 DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
diff --git a/src/DotRecast.Recast/IRcBuilderProgressListener.cs b/src/DotRecast.Recast/IRcBuilderProgressListener.cs
index f10c423..498a517 100644
--- a/src/DotRecast.Recast/IRcBuilderProgressListener.cs
+++ b/src/DotRecast.Recast/IRcBuilderProgressListener.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public interface IRcBuilderProgressListener
     {
diff --git a/src/DotRecast.Recast/RcAxis.cs b/src/DotRecast.Recast/RcAxis.cs
index 7d957a7..5ec399b 100644
--- a/src/DotRecast.Recast/RcAxis.cs
+++ b/src/DotRecast.Recast/RcAxis.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public static class RcAxis
     {
diff --git a/src/DotRecast.Recast/RcBuildContoursFlags.cs b/src/DotRecast.Recast/RcBuildContoursFlags.cs
index adcdc37..82a9f49 100644
--- a/src/DotRecast.Recast/RcBuildContoursFlags.cs
+++ b/src/DotRecast.Recast/RcBuildContoursFlags.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     /// Contour build flags.
     /// @see rcBuildContours
diff --git a/src/DotRecast.Recast/RcBuilderResult.cs b/src/DotRecast.Recast/RcBuilderResult.cs
index ecb38b7..7af34b1 100644
--- a/src/DotRecast.Recast/RcBuilderResult.cs
+++ b/src/DotRecast.Recast/RcBuilderResult.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcCompactSpanBuilder.cs b/src/DotRecast.Recast/RcCompactSpanBuilder.cs
index 00dd583..ca4a5f2 100644
--- a/src/DotRecast.Recast/RcCompactSpanBuilder.cs
+++ b/src/DotRecast.Recast/RcCompactSpanBuilder.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcCompactSpanBuilder
     {
diff --git a/src/DotRecast.Recast/RcContourHole.cs b/src/DotRecast.Recast/RcContourHole.cs
index 6c3b027..f0c040f 100644
--- a/src/DotRecast.Recast/RcContourHole.cs
+++ b/src/DotRecast.Recast/RcContourHole.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcContourHole
     {
diff --git a/src/DotRecast.Recast/RcContourHoleComparer.cs b/src/DotRecast.Recast/RcContourHoleComparer.cs
index ec21512..5817ee0 100644
--- a/src/DotRecast.Recast/RcContourHoleComparer.cs
+++ b/src/DotRecast.Recast/RcContourHoleComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcContourRegion.cs b/src/DotRecast.Recast/RcContourRegion.cs
index 9e8f715..17cd845 100644
--- a/src/DotRecast.Recast/RcContourRegion.cs
+++ b/src/DotRecast.Recast/RcContourRegion.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcContourRegion
     {
diff --git a/src/DotRecast.Recast/RcDirtyEntry.cs b/src/DotRecast.Recast/RcDirtyEntry.cs
index 92e7caf..dd05d65 100644
--- a/src/DotRecast.Recast/RcDirtyEntry.cs
+++ b/src/DotRecast.Recast/RcDirtyEntry.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     // Struct to keep track of entries in the region table that have been changed.
     public readonly struct RcDirtyEntry
diff --git a/src/DotRecast.Recast/RcHeightPatch.cs b/src/DotRecast.Recast/RcHeightPatch.cs
index 072aa13..e811937 100644
--- a/src/DotRecast.Recast/RcHeightPatch.cs
+++ b/src/DotRecast.Recast/RcHeightPatch.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcHeightPatch
     {
diff --git a/src/DotRecast.Recast/RcHeightfieldLayer.cs b/src/DotRecast.Recast/RcHeightfieldLayer.cs
index 83971dd..d8c1f4b 100644
--- a/src/DotRecast.Recast/RcHeightfieldLayer.cs
+++ b/src/DotRecast.Recast/RcHeightfieldLayer.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcLayerRegion.cs b/src/DotRecast.Recast/RcLayerRegion.cs
index dc98ecb..873d02a 100644
--- a/src/DotRecast.Recast/RcLayerRegion.cs
+++ b/src/DotRecast.Recast/RcLayerRegion.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcLayerSweepSpan.cs b/src/DotRecast.Recast/RcLayerSweepSpan.cs
index 3f98047..95371c9 100644
--- a/src/DotRecast.Recast/RcLayerSweepSpan.cs
+++ b/src/DotRecast.Recast/RcLayerSweepSpan.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcLayerSweepSpan
     {
diff --git a/src/DotRecast.Recast/RcLevelStackEntry.cs b/src/DotRecast.Recast/RcLevelStackEntry.cs
index 6648f20..8feda76 100644
--- a/src/DotRecast.Recast/RcLevelStackEntry.cs
+++ b/src/DotRecast.Recast/RcLevelStackEntry.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public readonly struct RcLevelStackEntry
     {
diff --git a/src/DotRecast.Recast/RcPartition.cs b/src/DotRecast.Recast/RcPartition.cs
index 266bfd8..322d2f1 100644
--- a/src/DotRecast.Recast/RcPartition.cs
+++ b/src/DotRecast.Recast/RcPartition.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public enum RcPartition
     {
diff --git a/src/DotRecast.Recast/RcPartitionType.cs b/src/DotRecast.Recast/RcPartitionType.cs
index cb85ac7..ef97c9b 100644
--- a/src/DotRecast.Recast/RcPartitionType.cs
+++ b/src/DotRecast.Recast/RcPartitionType.cs
@@ -1,4 +1,4 @@
-using System.Linq;
+using System.Linq;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcPotentialDiagonalComparer.cs b/src/DotRecast.Recast/RcPotentialDiagonalComparer.cs
index 66dd128..257dd16 100644
--- a/src/DotRecast.Recast/RcPotentialDiagonalComparer.cs
+++ b/src/DotRecast.Recast/RcPotentialDiagonalComparer.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcRegion.cs b/src/DotRecast.Recast/RcRegion.cs
index 9be4c60..4dcb170 100644
--- a/src/DotRecast.Recast/RcRegion.cs
+++ b/src/DotRecast.Recast/RcRegion.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
diff --git a/src/DotRecast.Recast/RcSpanPool.cs b/src/DotRecast.Recast/RcSpanPool.cs
index 6e2b59a..b31181d 100644
--- a/src/DotRecast.Recast/RcSpanPool.cs
+++ b/src/DotRecast.Recast/RcSpanPool.cs
@@ -1,4 +1,4 @@
-/*
+/*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
diff --git a/src/DotRecast.Recast/RcSweepSpan.cs b/src/DotRecast.Recast/RcSweepSpan.cs
index 4dcb80b..f07375f 100644
--- a/src/DotRecast.Recast/RcSweepSpan.cs
+++ b/src/DotRecast.Recast/RcSweepSpan.cs
@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcSweepSpan
     {
diff --git a/test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs b/test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs
index 3117e7d..38badae 100644
--- a/test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs
+++ b/test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Buffers;
 using System.Collections.Generic;
 using System.Net.Sockets;
diff --git a/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs b/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs
index 7dcfc2f..cc788cd 100644
--- a/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs
+++ b/test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs
@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
diff --git a/test/DotRecast.Core.Test/RcCyclicBufferTest.cs b/test/DotRecast.Core.Test/RcCyclicBufferTest.cs
index df11f1d..a2a0834 100644
--- a/test/DotRecast.Core.Test/RcCyclicBufferTest.cs
+++ b/test/DotRecast.Core.Test/RcCyclicBufferTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using DotRecast.Core.Buffers;
diff --git a/test/DotRecast.Core.Test/RcHashCodesTest.cs b/test/DotRecast.Core.Test/RcHashCodesTest.cs
index 0d500c8..a3883d5 100644
--- a/test/DotRecast.Core.Test/RcHashCodesTest.cs
+++ b/test/DotRecast.Core.Test/RcHashCodesTest.cs
@@ -1,4 +1,4 @@
-using NUnit.Framework;
+using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
 
diff --git a/test/DotRecast.Core.Test/RcIoTests.cs b/test/DotRecast.Core.Test/RcIoTests.cs
index c54d50b..1686296 100644
--- a/test/DotRecast.Core.Test/RcIoTests.cs
+++ b/test/DotRecast.Core.Test/RcIoTests.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.IO;
 using NUnit.Framework;
 
diff --git a/test/DotRecast.Core.Test/RcMathTest.cs b/test/DotRecast.Core.Test/RcMathTest.cs
index 9bdda89..81b84b9 100644
--- a/test/DotRecast.Core.Test/RcMathTest.cs
+++ b/test/DotRecast.Core.Test/RcMathTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
diff --git a/test/DotRecast.Core.Test/RcRentedArrayTest.cs b/test/DotRecast.Core.Test/RcRentedArrayTest.cs
index 0974f0d..6ba6feb 100644
--- a/test/DotRecast.Core.Test/RcRentedArrayTest.cs
+++ b/test/DotRecast.Core.Test/RcRentedArrayTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using DotRecast.Core.Buffers;
diff --git a/test/DotRecast.Core.Test/RcSortedQueueTest.cs b/test/DotRecast.Core.Test/RcSortedQueueTest.cs
index 537d711..b6532bb 100644
--- a/test/DotRecast.Core.Test/RcSortedQueueTest.cs
+++ b/test/DotRecast.Core.Test/RcSortedQueueTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using DotRecast.Core.Collections;
diff --git a/test/DotRecast.Core.Test/RcSpanTest.cs b/test/DotRecast.Core.Test/RcSpanTest.cs
index 268db7a..c5f2242 100644
--- a/test/DotRecast.Core.Test/RcSpanTest.cs
+++ b/test/DotRecast.Core.Test/RcSpanTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using NUnit.Framework;
 
diff --git a/test/DotRecast.Core.Test/RcStackArrayTest.cs b/test/DotRecast.Core.Test/RcStackArrayTest.cs
index 2678839..d799e93 100644
--- a/test/DotRecast.Core.Test/RcStackArrayTest.cs
+++ b/test/DotRecast.Core.Test/RcStackArrayTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Collections;
 using NUnit.Framework;
diff --git a/test/DotRecast.Core.Test/Vector3Test.cs b/test/DotRecast.Core.Test/Vector3Test.cs
index f845040..6537261 100644
--- a/test/DotRecast.Core.Test/Vector3Test.cs
+++ b/test/DotRecast.Core.Test/Vector3Test.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Numerics;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
diff --git a/test/DotRecast.Detour.Test/DtNodePoolTest.cs b/test/DotRecast.Detour.Test/DtNodePoolTest.cs
index 7ad3d68..4abecba 100644
--- a/test/DotRecast.Detour.Test/DtNodePoolTest.cs
+++ b/test/DotRecast.Detour.Test/DtNodePoolTest.cs
@@ -1,4 +1,4 @@
-using System.Collections.Immutable;
+using System.Collections.Immutable;
 using System.Linq;
 using NUnit.Framework;
 
diff --git a/test/DotRecast.Detour.Test/DtNodeQueueTest.cs b/test/DotRecast.Detour.Test/DtNodeQueueTest.cs
index 5e6c7ad..7b9a89f 100644
--- a/test/DotRecast.Detour.Test/DtNodeQueueTest.cs
+++ b/test/DotRecast.Detour.Test/DtNodeQueueTest.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using NUnit.Framework;
diff --git a/test/DotRecast.Detour.Test/FindCollectPolyTest.cs b/test/DotRecast.Detour.Test/FindCollectPolyTest.cs
index 1b7b8a5..a213fdf 100644
--- a/test/DotRecast.Detour.Test/FindCollectPolyTest.cs
+++ b/test/DotRecast.Detour.Test/FindCollectPolyTest.cs
@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Linq;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
diff --git a/test/DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs b/test/DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs
index affafd5..62bcaa0 100644
--- a/test/DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs
@@ -1,4 +1,4 @@
-using DotRecast.Recast.Geom;
+using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.TileCache.Test;
 
diff --git a/test/DotRecast.Detour.TileCache.Test/TileCacheTestSetUpFixture.cs b/test/DotRecast.Detour.TileCache.Test/TileCacheTestSetUpFixture.cs
index 8eb417b..1c109ca 100644
--- a/test/DotRecast.Detour.TileCache.Test/TileCacheTestSetUpFixture.cs
+++ b/test/DotRecast.Detour.TileCache.Test/TileCacheTestSetUpFixture.cs
@@ -1,4 +1,4 @@
-using DotRecast.Detour.TileCache.Io.Compress;
+using DotRecast.Detour.TileCache.Io.Compress;
 using DotRecast.Detour.TileCache.Test.Io;
 using NUnit.Framework;
 

From 5735c98c799f48e3de3dd502988b618a2d6bebab Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 7 Sep 2024 23:22:41 +0900
Subject: [PATCH 132/147] Moq 4.20.71

---
 test/DotRecast.Core.Test/DotRecast.Core.Test.csproj             | 2 +-
 .../DotRecast.Detour.Crowd.Test.csproj                          | 2 +-
 .../DotRecast.Detour.Dynamic.Test.csproj                        | 2 +-
 .../DotRecast.Detour.Extras.Test.csproj                         | 2 +-
 test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj         | 2 +-
 .../DotRecast.Detour.TileCache.Test.csproj                      | 2 +-
 test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj         | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
index 58477d5..bc18d06 100644
--- a/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
+++ b/test/DotRecast.Core.Test/DotRecast.Core.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
index 8b1de21..fc62d5e 100644
--- a/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
+++ b/test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
index 239a910..fa65c3a 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
+++ b/test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
index 0fdd78f..a8b27dc 100644
--- a/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
+++ b/test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
index 7dc9d60..c2afb29 100644
--- a/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
+++ b/test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
index 9881c96..506423f 100644
--- a/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
+++ b/test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
diff --git a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
index 3f6a099..d40500e 100644
--- a/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
+++ b/test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj
@@ -8,7 +8,7 @@
 
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
-        <PackageReference Include="Moq" Version="4.20.71" />
+        <PackageReference Include="Moq" Version="4.20.72" />
         <PackageReference Include="NUnit" Version="4.2.2" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
         <PackageReference Include="NUnit.Analyzers" Version="4.3.0">

From e9a05843daea0fe51b1a90644b8e26f18e082735 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 12 Sep 2024 01:35:21 +0900
Subject: [PATCH 133/147] bugfix - checkbox flags

---
 .../Tools/TestNavmeshSampleTool.cs            | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
index 7b4d364..79eb9b5 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshSampleTool.cs
@@ -140,22 +140,22 @@ public class TestNavmeshSampleTool : ISampleTool
         ImGui.Text("Common");
         ImGui.Separator();
 
-        ImGui.Text("Include Flags");
+        ImGui.Text("+ Include Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("+ Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("+ Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("+ Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("+ Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetIncludeFlags(_includeFlags);
 
-        ImGui.Text("Exclude Flags");
+        ImGui.Text("- Exclude Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("- Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("- Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("- Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("- Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetExcludeFlags(_excludeFlags);

From 2d0e2f852551f0152e114e4ca70bf287be8c9196 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 21 Sep 2024 02:54:01 +0900
Subject: [PATCH 134/147] Fix dynamic mesh bounds calculation #77

recast4j
- https://github.com/recast4j/recast4j/issues/203
- https://github.com/recast4j/recast4j/pull/204
---
 CHANGELOG.md                                  |  2 ++
 DotRecast.sln                                 | 12 +++++-----
 .../DtDynamicNavMesh.cs                       | 18 +++++++++-----
 .../Io/DtVoxelFile.cs                         | 20 +++++++++-------
 src/DotRecast.Recast.Demo/DemoSample.cs       |  9 ++++++-
 src/DotRecast.Recast.Demo/RecastDemo.cs       |  6 ++---
 .../Tools/DynamicUpdateSampleTool.cs          | 24 ++++++++++++++++---
 .../Tools/ObstacleSampleTool.cs               |  2 +-
 .../Builder/NavMeshBuildResult.cs             | 14 ++++++++++-
 .../Builder/SoloNavMeshBuilder.cs             |  2 +-
 .../Builder/TileNavMeshBuilder.cs             | 11 +++++----
 .../RcNavMeshBuildSettings.cs                 |  2 +-
 .../Tools/RcDynamicUpdateTool.cs              | 14 +++++++++--
 .../Tools/RcObstacleTool.cs                   |  2 +-
 14 files changed, 98 insertions(+), 40 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e6c3a06..d09eff3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
+- Fix dynamic mesh bounds calculation ([@ppiastucki](https://github.com/ppiastucki)) [#77](https://github.com/ikpil/DotRecast/issues/77)
+    - issuer : [@OhJeongrok](https://github.com/OhJeongrok)
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
diff --git a/DotRecast.sln b/DotRecast.sln
index 5a437de..581b760 100644
--- a/DotRecast.sln
+++ b/DotRecast.sln
@@ -123,18 +123,18 @@ Global
 		{FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{38933A87-4568-40A5-A3DA-E2445E8C2B99} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{C19E4BFA-63A0-4815-9815-869A9DC52DBC} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
-		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{FA7EF26A-BA47-43FD-86F8-0A33CFDF643F} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{53AF87DA-37F8-4504-B623-B2113F4438CA} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{023E1E6A-4895-4573-89AE-3D5D8E0B39C8} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{DF987948-8C23-4337-AF83-D87D6407518D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
+		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{D1EFC625-D095-4208-98A2-112B73CB40B0} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 	EndGlobalSection
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 277b755..82a0104 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -167,7 +167,7 @@ namespace DotRecast.Detour.Dynamic
         {
             foreach (var tile in tiles)
                 Rebuild(tile);
-            
+
             return UpdateNavMesh();
         }
 
@@ -188,17 +188,17 @@ namespace DotRecast.Detour.Dynamic
                 return _tiles.Values;
             }
 
-            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
-            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
+            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth) - 1;
+            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight) - 1;
+            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth) + 1;
+            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight) + 1;
             List<DtDynamicTile> tiles = new List<DtDynamicTile>();
             for (int z = minz; z <= maxz; ++z)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
                     DtDynamicTile tile = GetTileAt(x, z);
-                    if (tile != null)
+                    if (tile != null && IntersectsXZ(tile, bounds))
                     {
                         tiles.Add(tile);
                     }
@@ -208,6 +208,12 @@ namespace DotRecast.Detour.Dynamic
             return tiles;
         }
 
+        private bool IntersectsXZ(DtDynamicTile tile, float[] bounds)
+        {
+            return tile.voxelTile.boundsMin.X <= bounds[3] && tile.voxelTile.boundsMax.X >= bounds[0] &&
+                   tile.voxelTile.boundsMin.Z <= bounds[5] && tile.voxelTile.boundsMax.Z >= bounds[2];
+        }
+
         private List<DtDynamicTile> GetTilesByCollider(long cid)
         {
             return _tiles.Values.Where(t => t.ContainsCollider(cid)).ToList();
diff --git a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
index aa89808..7f152e4 100644
--- a/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
+++ b/src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs
@@ -78,7 +78,7 @@ namespace DotRecast.Detour.Dynamic.Io
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, IList<RcBuilderResult> results)
         {
             DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
@@ -109,13 +109,14 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RcBuilderResult r in results)
             {
+                float pad = r.SolidHeightfiled.borderSize * r.SolidHeightfiled.cs;
                 f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
-                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X);
+                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z - pad);
             }
 
             return f;
@@ -155,12 +156,13 @@ namespace DotRecast.Detour.Dynamic.Io
             {
                 RcHeightfield heightfield = vt.Heightfield();
                 f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
-                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X);
+                float pad = vt.borderSize * vt.cellSize;
+                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], vt.boundsMin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z - pad);
             }
 
             return f;
diff --git a/src/DotRecast.Recast.Demo/DemoSample.cs b/src/DotRecast.Recast.Demo/DemoSample.cs
index f87f4cb..be365d2 100644
--- a/src/DotRecast.Recast.Demo/DemoSample.cs
+++ b/src/DotRecast.Recast.Demo/DemoSample.cs
@@ -32,6 +32,7 @@ namespace DotRecast.Recast.Demo
         private DtNavMesh _navMesh;
         private DtNavMeshQuery _navMeshQuery;
         private readonly RcNavMeshBuildSettings _settings;
+        private RcConfig _cfg;
         private IList<RcBuilderResult> _recastResults;
         private bool _changed;
 
@@ -56,6 +57,11 @@ namespace DotRecast.Recast.Demo
             return _geom;
         }
 
+        public RcConfig GetRecastConfig()
+        {
+            return _cfg;
+        }
+
         public IList<RcBuilderResult> GetRecastResults()
         {
             return _recastResults;
@@ -86,9 +92,10 @@ namespace DotRecast.Recast.Demo
             _changed = changed;
         }
 
-        public void Update(DemoInputGeomProvider geom, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
+        public void Update(DemoInputGeomProvider geom, RcConfig cfg, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
         {
             _geom = geom;
+            _cfg = cfg;
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);
diff --git a/src/DotRecast.Recast.Demo/RecastDemo.cs b/src/DotRecast.Recast.Demo/RecastDemo.cs
index 26c26ca..e5d42df 100644
--- a/src/DotRecast.Recast.Demo/RecastDemo.cs
+++ b/src/DotRecast.Recast.Demo/RecastDemo.cs
@@ -320,7 +320,7 @@ public class RecastDemo : IRecastDemoChannel
 
             if (null != mesh)
             {
-                _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
+                _sample.Update(_sample.GetInputGeom(), _sample.GetRecastConfig(), ImmutableArray<RcBuilderResult>.Empty, mesh);
                 _toolsetView.SetEnabled(true);
             }
         }
@@ -684,7 +684,7 @@ public class RecastDemo : IRecastDemoChannel
     {
         var geom = LoadInputMesh(args.FilePath);
 
-        _sample.Update(geom, ImmutableArray<RcBuilderResult>.Empty, null);
+        _sample.Update(geom, null, ImmutableArray<RcBuilderResult>.Empty, null);
     }
 
     private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
@@ -719,7 +719,7 @@ public class RecastDemo : IRecastDemoChannel
             return;
         }
 
-        _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+        _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());
diff --git a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
index 54dfd25..c3d33cf 100644
--- a/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs
@@ -25,6 +25,7 @@ using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic;
+using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
 using DotRecast.Recast.Demo.Draw;
@@ -117,8 +118,16 @@ public class DynamicUpdateSampleTool : ISampleTool
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
             const string loadVoxelPopupStrId = "Load Voxels Popup";
-            
+
             bool isLoadVoxelPopup = true;
+            if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+            {
+                if (ImGui.Button("Import Voxels"))
+                {
+                    Copy();
+                }
+            }
+
             if (ImGui.Button("Load Voxels..."))
             {
                 ImGui.OpenPopup(loadVoxelPopupStrId);
@@ -410,7 +419,7 @@ public class DynamicUpdateSampleTool : ISampleTool
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
                 var dynaMesh = _tool.GetDynamicNavMesh();
-                _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+                _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
                 _sample.SetChanged(false);
             }
         }
@@ -420,6 +429,15 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
     }
 
+    private void Copy()
+    {
+        if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+        {
+            var dynaMesh = _tool.Copy(_sample.GetRecastConfig(), _sample.GetRecastResults());
+            UpdateFrom(dynaMesh.config);
+            BuildDynaMesh();
+        }
+    }
 
     private void Load(string filename)
     {
@@ -457,7 +475,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
 
         buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
-        _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+        _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
     }
 
     private void UpdateTo(DtDynamicNavMeshConfig config)
diff --git a/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs b/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
index ae4ee66..8661122 100644
--- a/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/ObstacleSampleTool.cs
@@ -32,7 +32,7 @@ public class ObstacleSampleTool : ISampleTool
             var buildResult = _tool.Build(geom, settings, RcByteOrder.LITTLE_ENDIAN, true);
             if (buildResult.Success)
             {
-                _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+                _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
             }
         }
 
diff --git a/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs b/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
index b4f1ce2..a86f222 100644
--- a/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/NavMeshBuildResult.cs
@@ -7,6 +7,7 @@ namespace DotRecast.Recast.Toolset.Builder
     public class NavMeshBuildResult
     {
         public readonly bool Success;
+        public readonly RcConfig Cfg;
         public readonly IList<RcBuilderResult> RecastBuilderResults;
         public readonly DtNavMesh NavMesh;
 
@@ -17,11 +18,22 @@ namespace DotRecast.Recast.Toolset.Builder
             NavMesh = null;
         }
         
-        public NavMeshBuildResult(IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
+        // for solo
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
         {
             Success = true;
+            Cfg = cfg;
             RecastBuilderResults = recastBuilderResults;
             NavMesh = navMesh;
         }
+        
+        // for tiles
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults)
+        {
+            Success = true;
+            Cfg = cfg;
+            RecastBuilderResults = recastBuilderResults;
+            NavMesh = null;
+        }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
index 4d01aec..401802c 100644
--- a/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs
@@ -69,7 +69,7 @@ namespace DotRecast.Recast.Toolset.Builder
             }
 
             var navMesh = BuildNavMesh(meshData, vertsPerPoly);
-            return new NavMeshBuildResult(RcImmutableArray.Create(rcResult), navMesh);
+            return new NavMeshBuildResult(cfg, RcImmutableArray.Create(rcResult), navMesh);
         }
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)
diff --git a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
index befe1b2..e328985 100644
--- a/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.Toolset/Builder/TileNavMeshBuilder.cs
@@ -58,7 +58,7 @@ namespace DotRecast.Recast.Toolset.Builder
             bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
             bool keepInterResults, bool buildAll)
         {
-            List<RcBuilderResult> results = BuildRecastResult(
+            NavMeshBuildResult result = BuildRecastResult(
                 geom,
                 tileSize,
                 partitionType,
@@ -72,12 +72,12 @@ namespace DotRecast.Recast.Toolset.Builder
                 keepInterResults, buildAll
             );
 
-            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, results);
+            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result.RecastBuilderResults);
             var tileNavMesh = BuildNavMesh(geom, tileMeshData, cellSize, tileSize, vertsPerPoly);
-            return new NavMeshBuildResult(results, tileNavMesh);
+            return new NavMeshBuildResult(result.Cfg, result.RecastBuilderResults, tileNavMesh);
         }
 
-        public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
+        public NavMeshBuildResult BuildRecastResult(IInputGeomProvider geom,
             int tileSize,
             RcPartition partitionType,
             float cellSize, float cellHeight,
@@ -102,7 +102,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            var results = rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            return new NavMeshBuildResult(cfg, results);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
diff --git a/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs b/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
index ea70e2b..64f4985 100644
--- a/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
+++ b/src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs
@@ -32,7 +32,7 @@ namespace DotRecast.Recast.Toolset
         public bool tiled = false;
         public int tileSize = 32;
         
-        public bool keepInterResults = false;
+        public bool keepInterResults = true; // full memory
         public bool buildAll = true;
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
index 9be7417..a27cb40 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
@@ -141,6 +141,16 @@ namespace DotRecast.Recast.Toolset.Tools
             return colliderWithGizmo;
         }
 
+        public DtDynamicNavMesh Copy(RcConfig cfg, IList<RcBuilderResult> results)
+        {
+            var voxelFile = DtVoxelFile.From(cfg, results);
+            dynaMesh = new DtDynamicNavMesh(voxelFile);
+            dynaMesh.config.keepIntermediateResults = true;
+            colliderGizmos.Clear();
+
+            return dynaMesh;
+        }
+
         public DtDynamicNavMesh Load(string filename, IRcCompressor compressor)
         {
             using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read, FileShare.Read);
@@ -184,7 +194,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 (1f - 2 * (float)random.NextDouble())
             );
             a = RcVec3f.Normalize(a);
-            
+
             float len = 1f + (float)random.NextDouble() * 20f;
             a.X *= len;
             a.Y *= len;
@@ -235,7 +245,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcVec3f baseUp = new RcVec3f(0, 1, 0);
             RcVec3f forward = new RcVec3f((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
             forward = RcVec3f.Normalize(forward);
-            
+
             RcVec3f side = RcVec3f.Cross(forward, baseUp);
             DtBoxCollider @base = new DtBoxCollider(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
                 SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
index b26fc87..53b4b88 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -78,7 +78,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 _tc.BuildNavMeshTile(refs);
             }
 
-            return new NavMeshBuildResult(RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
+            return new NavMeshBuildResult(cfg, RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
         }
 
         public void ClearAllTempObstacles()

From 85e2484505f3009e8a763eab77e13153dc1f2ec3 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sat, 21 Sep 2024 03:13:51 +0900
Subject: [PATCH 135/147] fix: Support non-tiled dynamic nav meshes
 (@ppiastucki)

[Upstream] from recast4j
- fe071aa - fix: Support non-tiled dynamic nav meshes (#205)
---
 CHANGELOG.md                                     | 1 +
 src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d09eff3..febdd1e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
 - Fix dynamic mesh bounds calculation ([@ppiastucki](https://github.com/ppiastucki)) [#77](https://github.com/ikpil/DotRecast/issues/77)
     - issuer : [@OhJeongrok](https://github.com/OhJeongrok)
+- Fix Support non-tiled dynamic nav meshes ([@ppiastucki](https://github.com/ppiastucki))
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 82a0104..5c5a253 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -62,8 +62,8 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.orig.X = voxelFile.bounds[0];
             navMeshParams.orig.Y = voxelFile.bounds[1];
             navMeshParams.orig.Z = voxelFile.bounds[2];
-            navMeshParams.tileWidth = voxelFile.cellSize * voxelFile.tileSizeX;
-            navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
+            navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
+            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ: voxelFile.bounds[5] - voxelFile.bounds[2];
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)

From 36795dc909a5e4da78e770e9f8d204082811faf8 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Sun, 29 Sep 2024 22:53:10 +0900
Subject: [PATCH 136/147] Serilog 4.0.2

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 451c1e7..bbc9464 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="4.0.1" />
+    <PackageReference Include="Serilog" Version="4.0.2" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.2" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />

From 62f9cfe034114a2e88db2fd3da82eefe5b56ae14 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 1 Oct 2024 23:27:42 +0900
Subject: [PATCH 137/147] Support for saving and loading dynamic nav meshes
 @ppiastucki

[Upstream] from recast4j
506b503 - chore: Support for saving and loading dynamic nav meshes (fixes #200) (#209)
---
 .../DtDynamicNavMesh.cs                       | 22 ++++-
 src/DotRecast.Detour.Dynamic/DtDynamicTile.cs |  5 +
 .../DynamicNavMeshTest.cs                     | 99 +++++++++++++++++++
 3 files changed, 124 insertions(+), 2 deletions(-)

diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 5c5a253..07b5870 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -23,6 +23,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Threading.Tasks;
 using DotRecast.Core;
+using DotRecast.Core.Collections;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast;
@@ -63,7 +64,7 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.orig.Y = voxelFile.bounds[1];
             navMeshParams.orig.Z = voxelFile.bounds[2];
             navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
-            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ: voxelFile.bounds[5] - voxelFile.bounds[2];
+            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2];
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)
@@ -230,6 +231,8 @@ namespace DotRecast.Detour.Dynamic
         {
             if (_dirty)
             {
+                _dirty = false;
+
                 DtNavMesh navMesh = new DtNavMesh();
                 navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
 
@@ -239,7 +242,6 @@ namespace DotRecast.Detour.Dynamic
                 }
 
                 _navMesh = navMesh;
-                _dirty = false;
                 return true;
             }
 
@@ -267,5 +269,21 @@ namespace DotRecast.Detour.Dynamic
         {
             return _tiles.Values.Select(t => t.recastResult).ToList();
         }
+
+        public void NavMesh(DtNavMesh mesh)
+        {
+            _tiles.Values.ForEach(t =>
+            {
+                const int MAX_NEIS = 32;
+                DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+                int nneis = mesh.GetTilesAt(t.voxelTile.tileX, t.voxelTile.tileZ, tiles, MAX_NEIS);
+                if (0 < nneis)
+                {
+                    t.SetMeshData(tiles[0].data);
+                }
+            });
+            _navMesh = mesh;
+            _dirty = false;
+        }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
index bf84437..17a1575 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicTile.cs
@@ -189,5 +189,10 @@ namespace DotRecast.Detour.Dynamic
                 id = 0;
             }
         }
+
+        public void SetMeshData(DtMeshData data)
+        {
+            this.meshData = data;
+        }
     }
 }
\ No newline at end of file
diff --git a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
index 2f11aee..deb60c3 100644
--- a/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
+++ b/test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs
@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -6,6 +7,7 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Detour.Dynamic.Test.Io;
+using DotRecast.Detour.Io;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
@@ -78,4 +80,101 @@ public class DynamicNavMeshTest
         // path length should be back to the initial value
         Assert.That(path.Count, Is.EqualTo(16));
     }
+
+
+    [Test]
+    public void ShouldSaveAndLoadDynamicNavMesh()
+    {
+        using var writerMs = new MemoryStream();
+        using var bw = new BinaryWriter(writerMs);
+
+
+        int maxVertsPerPoly = 6;
+        // load voxels from file
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+
+            // build navmesh asynchronously using multiple threads
+            mesh.Build(Task.Factory);
+
+            // Save the resulting nav mesh and re-use it
+            new DtMeshSetWriter().Write(bw, mesh.NavMesh(), RcByteOrder.LITTLE_ENDIAN, true);
+            maxVertsPerPoly = mesh.NavMesh().GetMaxVertsPerPoly();
+        }
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            // load voxels from file
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+            // use the saved nav mesh instead of building from scratch
+            DtNavMesh navMesh = new DtMeshSetReader().Read(new RcByteBuffer(writerMs.ToArray()), maxVertsPerPoly);
+            mesh.NavMesh(navMesh);
+
+            DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
+            IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+            // find path
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out var startNearestRef, out var startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out var endNearestRef, out var endNearestPos, out var _);
+
+            List<long> path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length without any obstacles
+            Assert.That(path.Count, Is.EqualTo(16));
+
+            // place obstacle
+            DtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
+            long colliderId = mesh.AddCollider(colldier);
+
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+
+            // find path again
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length with obstacles
+            Assert.That(path.Count, Is.EqualTo(19));
+
+            // remove obstacle
+            mesh.RemoveCollider(colliderId);
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+            // find path one more time
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // path length should be back to the initial value
+            Assert.That(path.Count, Is.EqualTo(16));
+        }
+    }
 }
\ No newline at end of file

From e9ca704ab74bdda1fd0c22f749155e4c4ff6b451 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Tue, 8 Oct 2024 13:44:36 +0900
Subject: [PATCH 138/147] update Serilog.Settings.Configuration 8.0.3

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index bbc9464..331988a 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -21,7 +21,7 @@
 
   <ItemGroup>
     <PackageReference Include="Serilog" Version="4.0.2" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.2" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.3" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />

From a225e32a5a017a32d754163d5c302ecca4436d87 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 10 Oct 2024 13:39:58 +0900
Subject: [PATCH 139/147] Serilog.Settings.Configuration 8.0.4

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 331988a..0839836 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -21,7 +21,7 @@
 
   <ItemGroup>
     <PackageReference Include="Serilog" Version="4.0.2" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.3" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />

From ecc02f12e4e6190a1fd696557333fe745e291f18 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 13 Oct 2024 15:04:37 +0900
Subject: [PATCH 140/147] install dotnet all version for unittest

---
 .github/workflows/dotnet.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/dotnet.yml b/.github/workflows/dotnet.yml
index af233a5..b896ef1 100644
--- a/.github/workflows/dotnet.yml
+++ b/.github/workflows/dotnet.yml
@@ -39,7 +39,10 @@ jobs:
       - name: Setup .NET
         uses: actions/setup-dotnet@v4
         with:
-          dotnet-version: ${{ matrix.dotnet-version }}.x
+          dotnet-version: |
+            6
+            7
+            8
             
       - name: Restore dependencies
         run: dotnet restore

From ea437ef02073e45d94c3d6dc21b9ef84432c8ff4 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 13 Oct 2024 16:27:24 +0900
Subject: [PATCH 141/147] Changed bmin/bmax from int[] to RcVec3i for improved
 memory efficiency

---
 CHANGELOG.md                                  |   1 +
 src/DotRecast.Core/Numerics/RcVec3i.cs        |   9 ++
 src/DotRecast.Detour.Extras/BVTreeBuilder.cs  |  12 +-
 src/DotRecast.Detour/BVItem.cs                |   6 +-
 src/DotRecast.Detour/BVItemXComparer.cs       |   2 +-
 src/DotRecast.Detour/BVItemYComparer.cs       |   2 +-
 src/DotRecast.Detour/BVItemZComparer.cs       |   2 +-
 src/DotRecast.Detour/DtBVNode.cs              |   6 +-
 src/DotRecast.Detour/DtNavMesh.cs             |  18 +--
 src/DotRecast.Detour/DtNavMeshBuilder.cs      | 104 ++++++++----------
 src/DotRecast.Detour/DtNavMeshQuery.cs        |  18 +--
 src/DotRecast.Detour/DtUtils.cs               |   8 +-
 src/DotRecast.Detour/Io/DtMeshDataReader.cs   |  28 ++---
 src/DotRecast.Detour/Io/DtMeshDataWriter.cs   |  28 ++---
 .../Draw/RecastDebugDraw.cs                   |  10 +-
 .../Io/MeshDataReaderWriterTest.cs            |   7 +-
 16 files changed, 126 insertions(+), 135 deletions(-)
 create mode 100644 src/DotRecast.Core/Numerics/RcVec3i.cs

diff --git a/CHANGELOG.md b/CHANGELOG.md
index febdd1e..f9fb216 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
 - Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
 - Changed DtNavMeshQuery.GetPolyWallSegments() to use Span<T> for enhanced performance, memory efficiency.
+- Changed bmin/bmax from int[] to RcVec3i for improved memory efficiency
 
 ### Removed
 - Nothing
diff --git a/src/DotRecast.Core/Numerics/RcVec3i.cs b/src/DotRecast.Core/Numerics/RcVec3i.cs
new file mode 100644
index 0000000..673edf2
--- /dev/null
+++ b/src/DotRecast.Core/Numerics/RcVec3i.cs
@@ -0,0 +1,9 @@
+namespace DotRecast.Core.Numerics
+{
+    public struct RcVec3i
+    {
+        public int X;
+        public int Y;
+        public int Z;
+    }
+}
\ No newline at end of file
diff --git a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
index 577effd..c06cfe8 100644
--- a/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
+++ b/src/DotRecast.Detour.Extras/BVTreeBuilder.cs
@@ -48,12 +48,12 @@ namespace DotRecast.Detour.Extras
                     bmax = RcVec3f.Max(bmax, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
                 }
 
-                it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmin[1] = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmin[2] = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
-                it.bmax[0] = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmax[1] = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmax[2] = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmin.X = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Y = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Z = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmax.X = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Y = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Z = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
             }
 
             return DtNavMeshBuilder.Subdivide(items, data.header.polyCount, 0, data.header.polyCount, 0, nodes);
diff --git a/src/DotRecast.Detour/BVItem.cs b/src/DotRecast.Detour/BVItem.cs
index aebbaea..d34b7a1 100644
--- a/src/DotRecast.Detour/BVItem.cs
+++ b/src/DotRecast.Detour/BVItem.cs
@@ -1,9 +1,11 @@
+using DotRecast.Core.Numerics;
+
 namespace DotRecast.Detour
 {
     public class BVItem
     {
-        public readonly int[] bmin = new int[3];
-        public readonly int[] bmax = new int[3];
+        public RcVec3i bmin;
+        public RcVec3i bmax;
         public int i;
     };
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/BVItemXComparer.cs b/src/DotRecast.Detour/BVItemXComparer.cs
index c3f51ca..3bc1565 100644
--- a/src/DotRecast.Detour/BVItemXComparer.cs
+++ b/src/DotRecast.Detour/BVItemXComparer.cs
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[0].CompareTo(b.bmin[0]);
+            return a.bmin.X.CompareTo(b.bmin.X);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/BVItemYComparer.cs b/src/DotRecast.Detour/BVItemYComparer.cs
index e52aae8..e475e1a 100644
--- a/src/DotRecast.Detour/BVItemYComparer.cs
+++ b/src/DotRecast.Detour/BVItemYComparer.cs
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[1].CompareTo(b.bmin[1]);
+            return a.bmin.Y.CompareTo(b.bmin.Y);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/BVItemZComparer.cs b/src/DotRecast.Detour/BVItemZComparer.cs
index cd78da7..3babe65 100644
--- a/src/DotRecast.Detour/BVItemZComparer.cs
+++ b/src/DotRecast.Detour/BVItemZComparer.cs
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[2].CompareTo(b.bmin[2]);
+            return a.bmin.Z.CompareTo(b.bmin.Z);
         }
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtBVNode.cs b/src/DotRecast.Detour/DtBVNode.cs
index 97681dd..dc57d5e 100644
--- a/src/DotRecast.Detour/DtBVNode.cs
+++ b/src/DotRecast.Detour/DtBVNode.cs
@@ -18,6 +18,8 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using DotRecast.Core.Numerics;
+
 namespace DotRecast.Detour
 {
     /// Bounding volume node.
@@ -25,8 +27,8 @@ namespace DotRecast.Detour
     /// @see dtMeshTile
     public class DtBVNode
     {
-        public int[] bmin = new int[3]; //< Minimum bounds of the node's AABB. [(x, y, z)]
-        public int[] bmax = new int[3]; //< Maximum bounds of the node's AABB. [(x, y, z)]
+        public RcVec3i bmin; //< Minimum bounds of the node's AABB. [(x, y, z)]
+        public RcVec3i bmax; //< Maximum bounds of the node's AABB. [(x, y, z)]
         public int i; //< The node's index. (Negative for escape sequence.)
     }
 }
\ No newline at end of file
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index d31cbac..a479123 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -259,8 +259,8 @@ namespace DotRecast.Detour
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
                 // Calculate quantized box
-                Span<int> bmin = stackalloc int[3];
-                Span<int> bmax = stackalloc int[3];
+                RcVec3i bmin;
+                RcVec3i bmax;
                 // dtClamp query box to world box.
                 float minx = Math.Clamp(qmin.X, tbmin.X, tbmax.X) - tbmin.X;
                 float miny = Math.Clamp(qmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
@@ -269,12 +269,12 @@ namespace DotRecast.Detour
                 float maxy = Math.Clamp(qmax.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
                 float maxz = Math.Clamp(qmax.Z, tbmin.Z, tbmax.Z) - tbmin.Z;
                 // Quantize
-                bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
-                bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
-                bmin[2] = (int)(qfac * minz) & 0x7ffffffe;
-                bmax[0] = (int)(qfac * maxx + 1) | 1;
-                bmax[1] = (int)(qfac * maxy + 1) | 1;
-                bmax[2] = (int)(qfac * maxz + 1) | 1;
+                bmin.X = (int)(qfac * minx) & 0x7ffffffe;
+                bmin.Y = (int)(qfac * miny) & 0x7ffffffe;
+                bmin.Z = (int)(qfac * minz) & 0x7ffffffe;
+                bmax.X = (int)(qfac * maxx + 1) | 1;
+                bmax.Y = (int)(qfac * maxy + 1) | 1;
+                bmax.Z = (int)(qfac * maxz + 1) | 1;
 
                 // Traverse tree
                 long @base = GetPolyRefBase(tile);
@@ -282,7 +282,7 @@ namespace DotRecast.Detour
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(ref bmin, ref bmax, ref node.bmin, ref node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
diff --git a/src/DotRecast.Detour/DtNavMeshBuilder.cs b/src/DotRecast.Detour/DtNavMeshBuilder.cs
index 632d89a..7f5c863 100644
--- a/src/DotRecast.Detour/DtNavMeshBuilder.cs
+++ b/src/DotRecast.Detour/DtNavMeshBuilder.cs
@@ -31,37 +31,28 @@ namespace DotRecast.Detour
         const int MESH_NULL_IDX = 0xffff;
 
 
-        private static int[][] CalcExtends(BVItem[] items, int nitems, int imin, int imax)
+        private static void CalcExtends(BVItem[] items, int nitems, int imin, int imax, ref RcVec3i bmin, ref RcVec3i bmax)
         {
-            int[] bmin = new int[3];
-            int[] bmax = new int[3];
-            bmin[0] = items[imin].bmin[0];
-            bmin[1] = items[imin].bmin[1];
-            bmin[2] = items[imin].bmin[2];
-
-            bmax[0] = items[imin].bmax[0];
-            bmax[1] = items[imin].bmax[1];
-            bmax[2] = items[imin].bmax[2];
+            bmin = items[imin].bmin;
+            bmax = items[imin].bmax;
 
             for (int i = imin + 1; i < imax; ++i)
             {
                 BVItem it = items[i];
-                if (it.bmin[0] < bmin[0])
-                    bmin[0] = it.bmin[0];
-                if (it.bmin[1] < bmin[1])
-                    bmin[1] = it.bmin[1];
-                if (it.bmin[2] < bmin[2])
-                    bmin[2] = it.bmin[2];
+                if (it.bmin.X < bmin.X)
+                    bmin.X = it.bmin.X;
+                if (it.bmin.Y < bmin.Y)
+                    bmin.Y = it.bmin.Y;
+                if (it.bmin.Z < bmin.Z)
+                    bmin.Z = it.bmin.Z;
 
-                if (it.bmax[0] > bmax[0])
-                    bmax[0] = it.bmax[0];
-                if (it.bmax[1] > bmax[1])
-                    bmax[1] = it.bmax[1];
-                if (it.bmax[2] > bmax[2])
-                    bmax[2] = it.bmax[2];
+                if (it.bmax.X > bmax.X)
+                    bmax.X = it.bmax.X;
+                if (it.bmax.Y > bmax.Y)
+                    bmax.Y = it.bmax.Y;
+                if (it.bmax.Z > bmax.Z)
+                    bmax.Z = it.bmax.Z;
             }
-
-            return new int[][] { bmin, bmax };
         }
 
         private static int LongestAxis(int x, int y, int z)
@@ -94,27 +85,20 @@ namespace DotRecast.Detour
             if (inum == 1)
             {
                 // Leaf
-                node.bmin[0] = items[imin].bmin[0];
-                node.bmin[1] = items[imin].bmin[1];
-                node.bmin[2] = items[imin].bmin[2];
-
-                node.bmax[0] = items[imin].bmax[0];
-                node.bmax[1] = items[imin].bmax[1];
-                node.bmax[2] = items[imin].bmax[2];
+                node.bmin = items[imin].bmin;
+                node.bmax = items[imin].bmax;
 
                 node.i = items[imin].i;
             }
             else
             {
                 // Split
-                int[][] minmax = CalcExtends(items, nitems, imin, imax);
-                node.bmin = minmax[0];
-                node.bmax = minmax[1];
+                CalcExtends(items, nitems, imin, imax, ref node.bmin, ref node.bmax);
 
                 int axis = LongestAxis(
-                    node.bmax[0] - node.bmin[0],
-                    node.bmax[1] - node.bmin[1],
-                    node.bmax[2] - node.bmin[2]
+                    node.bmax.X - node.bmin.X,
+                    node.bmax.Y - node.bmin.Y,
+                    node.bmax.Z - node.bmin.Z
                 );
 
                 if (axis == 0)
@@ -173,20 +157,20 @@ namespace DotRecast.Detour
                     }
 
                     // BV-tree uses cs for all dimensions
-                    it.bmin[0] = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmin[1] = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmin[2] = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmin.X = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Y = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Z = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
 
-                    it.bmax[0] = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmax[1] = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmax[2] = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmax.X = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Y = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Z = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
                 }
                 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];
+                    it.bmin.X = it.bmax.X = option.verts[option.polys[p] * 3 + 0];
+                    it.bmin.Y = it.bmax.Y = option.verts[option.polys[p] * 3 + 1];
+                    it.bmin.Z = it.bmax.Z = option.verts[option.polys[p] * 3 + 2];
 
                     for (int j = 1; j < option.nvp; ++j)
                     {
@@ -196,24 +180,24 @@ namespace DotRecast.Detour
                         int y = option.verts[option.polys[p + j] * 3 + 1];
                         int z = option.verts[option.polys[p + j] * 3 + 2];
 
-                        if (x < it.bmin[0])
-                            it.bmin[0] = x;
-                        if (y < it.bmin[1])
-                            it.bmin[1] = y;
-                        if (z < it.bmin[2])
-                            it.bmin[2] = z;
+                        if (x < it.bmin.X)
+                            it.bmin.X = x;
+                        if (y < it.bmin.Y)
+                            it.bmin.Y = y;
+                        if (z < it.bmin.Z)
+                            it.bmin.Z = z;
 
-                        if (x > it.bmax[0])
-                            it.bmax[0] = x;
-                        if (y > it.bmax[1])
-                            it.bmax[1] = y;
-                        if (z > it.bmax[2])
-                            it.bmax[2] = z;
+                        if (x > it.bmax.X)
+                            it.bmax.X = x;
+                        if (y > it.bmax.Y)
+                            it.bmax.Y = y;
+                        if (z > it.bmax.Z)
+                            it.bmax.Z = z;
                     }
 
                     // Remap y
-                    it.bmin[1] = (int)MathF.Floor(it.bmin[1] * option.ch * quantFactor);
-                    it.bmax[1] = (int)MathF.Ceiling(it.bmax[1] * option.ch * quantFactor);
+                    it.bmin.Y = (int)MathF.Floor(it.bmin.Y * option.ch * quantFactor);
+                    it.bmax.Y = (int)MathF.Ceiling(it.bmax.Y * option.ch * quantFactor);
                 }
             }
 
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 0a83738..ee0e699 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -609,8 +609,8 @@ namespace DotRecast.Detour
                 float qfac = tile.data.header.bvQuantFactor;
 
                 // Calculate quantized box
-                Span<int> bmin = stackalloc int[3];
-                Span<int> bmax = stackalloc int[3];
+                RcVec3i bmin;
+                RcVec3i bmax;
                 // dtClamp query box to world box.
                 float minx = Math.Clamp(qmin.X, tbmin.X, tbmax.X) - tbmin.X;
                 float miny = Math.Clamp(qmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
@@ -619,19 +619,19 @@ namespace DotRecast.Detour
                 float maxy = Math.Clamp(qmax.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
                 float maxz = Math.Clamp(qmax.Z, tbmin.Z, tbmax.Z) - tbmin.Z;
                 // Quantize
-                bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
-                bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
-                bmin[2] = (int)(qfac * minz) & 0x7ffffffe;
-                bmax[0] = (int)(qfac * maxx + 1) | 1;
-                bmax[1] = (int)(qfac * maxy + 1) | 1;
-                bmax[2] = (int)(qfac * maxz + 1) | 1;
+                bmin.X = (int)(qfac * minx) & 0x7ffffffe;
+                bmin.Y = (int)(qfac * miny) & 0x7ffffffe;
+                bmin.Z = (int)(qfac * minz) & 0x7ffffffe;
+                bmax.X = (int)(qfac * maxx + 1) | 1;
+                bmax.Y = (int)(qfac * maxy + 1) | 1;
+                bmax.Z = (int)(qfac * maxz + 1) | 1;
 
                 // Traverse tree
                 long @base = m_nav.GetPolyRefBase(tile);
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(ref bmin, ref bmax, ref node.bmin, ref node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
diff --git a/src/DotRecast.Detour/DtUtils.cs b/src/DotRecast.Detour/DtUtils.cs
index 9b65bf7..14fc291 100644
--- a/src/DotRecast.Detour/DtUtils.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -43,12 +43,12 @@ namespace DotRecast.Detour
         /// @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(Span<int> amin, Span<int> amax, Span<int> bmin, Span<int> bmax)
+        public static bool OverlapQuantBounds(ref RcVec3i amin, ref RcVec3i amax, ref RcVec3i bmin, ref RcVec3i 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;
-            overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
+            overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
             return overlap;
         }
 
diff --git a/src/DotRecast.Detour/Io/DtMeshDataReader.cs b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
index 7c837ed..0afe161 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataReader.cs
@@ -204,27 +204,23 @@ namespace DotRecast.Detour.Io
                 nodes[i] = new DtBVNode();
                 if (header.version < DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmin.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Z = buf.GetShort() & 0xFFFF;
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmax.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Z = buf.GetShort() & 0xFFFF;
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetInt();
-                    }
+                    nodes[i].bmin.X = buf.GetInt();
+                    nodes[i].bmin.Y = buf.GetInt();
+                    nodes[i].bmin.Z = buf.GetInt();
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetInt();
-                    }
+                    nodes[i].bmax.X = buf.GetInt();
+                    nodes[i].bmax.Y = buf.GetInt();
+                    nodes[i].bmax.Z = buf.GetInt();
                 }
 
                 nodes[i].i = buf.GetInt();
diff --git a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
index fa70e7b..75ab3c7 100644
--- a/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
+++ b/src/DotRecast.Detour/Io/DtMeshDataWriter.cs
@@ -130,27 +130,23 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        RcIO.Write(stream, (short)data.bvTree[i].bmin[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Z, order);
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        RcIO.Write(stream, (short)data.bvTree[i].bmax[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Z, order);
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        RcIO.Write(stream, data.bvTree[i].bmin[j], order);
-                    }
+                    RcIO.Write(stream, data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Z, order);
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        RcIO.Write(stream, data.bvTree[i].bmax[j], order);
-                    }
+                    RcIO.Write(stream, data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Z, order);
                 }
 
                 RcIO.Write(stream, data.bvTree[i].i, order);
diff --git a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
index d26b7d3..b20fdac 100644
--- a/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
+++ b/src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs
@@ -465,9 +465,13 @@ public class RecastDebugDraw : DebugDraw
                 continue;
             }
 
-            AppendBoxWire(tile.data.header.bmin.X + n.bmin[0] * cs, tile.data.header.bmin.Y + n.bmin[1] * cs,
-                tile.data.header.bmin.Z + n.bmin[2] * cs, tile.data.header.bmin.X + n.bmax[0] * cs,
-                tile.data.header.bmin.Y + n.bmax[1] * cs, tile.data.header.bmin.Z + n.bmax[2] * cs,
+            AppendBoxWire(
+                tile.data.header.bmin.X + n.bmin.X * cs, 
+                tile.data.header.bmin.Y + n.bmin.Y * cs,
+                tile.data.header.bmin.Z + n.bmin.Z * cs, 
+                tile.data.header.bmin.X + n.bmax.X * cs,
+                tile.data.header.bmin.Y + n.bmax.Y * cs, 
+                tile.data.header.bmin.Z + n.bmax.Z * cs,
                 DuRGBA(255, 255, 255, 128));
         }
 
diff --git a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
index c5872ba..2cdd4ed 100644
--- a/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
+++ b/test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs
@@ -117,11 +117,8 @@ public class MeshDataReaderWriterTest
         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++)
-            {
-                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]));
-            }
+            Assert.That(readData.bvTree[i].bmin, Is.EqualTo(meshData.bvTree[i].bmin));
+            Assert.That(readData.bvTree[i].bmax, Is.EqualTo(meshData.bvTree[i].bmax));
         }
 
         for (int i = 0; i < meshData.header.offMeshConCount; i++)

From 1bf2ff48f2eda36c25d58c3aa413ec245276e9d8 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil0@gmail.com>
Date: Sun, 13 Oct 2024 16:41:25 +0900
Subject: [PATCH 142/147] Changed bmin/bmax from float[] to RcVec2f for
 improved memory efficiency and readability

---
 src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs |  8 ++++----
 src/DotRecast.Recast/Geom/RcTriMesh.cs        |  3 ++-
 src/DotRecast.Recast/RcVoxelizations.cs       | 13 +++++++------
 3 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
index 795f57f..25a3ff9 100644
--- a/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
+++ b/src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs
@@ -99,7 +99,7 @@ namespace DotRecast.Recast.Geom
         }
 
         /// Returns the chunk indices which overlap the input rectable.
-        public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, float[] bmin, float[] bmax)
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, RcVec2f bmin, RcVec2f bmax)
         {
             // Traverse tree
             List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
@@ -252,11 +252,11 @@ namespace DotRecast.Recast.Geom
             }
         }
 
-        private static bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
+        private static bool CheckOverlapRect(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax)
         {
             bool overlap = true;
-            overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
-            overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
+            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
             return overlap;
         }
 
diff --git a/src/DotRecast.Recast/Geom/RcTriMesh.cs b/src/DotRecast.Recast/Geom/RcTriMesh.cs
index 5cd22d1..1e45b6f 100644
--- a/src/DotRecast.Recast/Geom/RcTriMesh.cs
+++ b/src/DotRecast.Recast/Geom/RcTriMesh.cs
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
@@ -46,7 +47,7 @@ namespace DotRecast.Recast.Geom
             return vertices;
         }
 
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
+        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcVec2f bmin, RcVec2f bmax)
         {
             return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
         }
diff --git a/src/DotRecast.Recast/RcVoxelizations.cs b/src/DotRecast.Recast/RcVoxelizations.cs
index a6d8d4b..0687824 100644
--- a/src/DotRecast.Recast/RcVoxelizations.cs
+++ b/src/DotRecast.Recast/RcVoxelizations.cs
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
@@ -44,12 +45,12 @@ namespace DotRecast.Recast
                 float[] verts = geom.GetVerts();
                 if (cfg.UseTiles)
                 {
-                    float[] tbmin = new float[2];
-                    float[] tbmax = new float[2];
-                    tbmin[0] = builderCfg.bmin.X;
-                    tbmin[1] = builderCfg.bmin.Z;
-                    tbmax[0] = builderCfg.bmax.X;
-                    tbmax[1] = builderCfg.bmax.Z;
+                    RcVec2f tbmin;
+                    RcVec2f tbmax;
+                    tbmin.X = builderCfg.bmin.X;
+                    tbmin.Y = builderCfg.bmin.Z;
+                    tbmax.X = builderCfg.bmax.X;
+                    tbmax.Y = builderCfg.bmax.Z;
                     List<RcChunkyTriMeshNode> nodes = geom.GetChunksOverlappingRect(tbmin, tbmax);
                     foreach (RcChunkyTriMeshNode node in nodes)
                     {

From 5de6e06a94cb2d897df85fc86c764d808f419a67 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Wed, 23 Oct 2024 08:54:31 +0900
Subject: [PATCH 143/147] Serilog 4.1.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 0839836..1b74a77 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="4.0.2" />
+    <PackageReference Include="Serilog" Version="4.1.0" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
     <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />

From 4ec36fb8b445a8de2925b63c84753d4e900790b0 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Fri, 25 Oct 2024 14:03:51 +0900
Subject: [PATCH 144/147] Serilog.Sinks.Async 2.1.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index 1b74a77..cdb580f 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -23,7 +23,7 @@
     <PackageReference Include="Serilog" Version="4.1.0" />
     <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
     <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
-    <PackageReference Include="Serilog.Sinks.Async" Version="2.0.0" />
+    <PackageReference Include="Serilog.Sinks.Async" Version="2.1.0" />
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
     <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />

From 43446d4443222b659fd4a41a08ca19a42c75c547 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 28 Oct 2024 22:36:20 +0900
Subject: [PATCH 145/147] add publish to unirecast

---
 DotRecast.sln                                 |   9 +
 .../CsProj.cs                                 |  15 ++
 .../DotRecast.Tool.PublishToUniRecast.csproj  |   9 +
 .../Program.cs                                | 169 ++++++++++++++++++
 4 files changed, 202 insertions(+)
 create mode 100644 tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs
 create mode 100644 tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
 create mode 100644 tool/DotRecast.Tool.PublishToUniRecast/Program.cs

diff --git a/DotRecast.sln b/DotRecast.sln
index 581b760..006fc1f 100644
--- a/DotRecast.sln
+++ b/DotRecast.sln
@@ -41,6 +41,10 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.TileCache.
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Benchmark", "test\DotRecast.Benchmark\DotRecast.Benchmark.csproj", "{D1EFC625-D095-4208-98A2-112B73CB40B0}"
 EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "tool", "tool", "{9C213609-BF13-4024-816E-A6ADD641DF24}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Tool.PublishToUniRecast", "tool\DotRecast.Tool.PublishToUniRecast\DotRecast.Tool.PublishToUniRecast.csproj", "{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -118,6 +122,10 @@ Global
 		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.Build.0 = Release|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
 		{FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
@@ -137,5 +145,6 @@ Global
 		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{D1EFC625-D095-4208-98A2-112B73CB40B0} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446} = {9C213609-BF13-4024-816E-A6ADD641DF24}
 	EndGlobalSection
 EndGlobal
diff --git a/tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs b/tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs
new file mode 100644
index 0000000..bd545ce
--- /dev/null
+++ b/tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs
@@ -0,0 +1,15 @@
+namespace DotRecast.Tool.PublishToUniRecast;
+
+public class CsProj
+{
+    public readonly string RootPath;
+    public readonly string Name;
+    public readonly string TargetPath;
+
+    public CsProj(string rootPath, string name, string targetPath)
+    {
+        RootPath = rootPath;
+        Name = name;
+        TargetPath = targetPath;
+    }
+}
\ No newline at end of file
diff --git a/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj b/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
new file mode 100644
index 0000000..70cfa9d
--- /dev/null
+++ b/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
@@ -0,0 +1,9 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFrameworks>net6.0;net8.0</TargetFrameworks>
+    <IsPackable>false</IsPackable>
+  </PropertyGroup>
+
+</Project>
diff --git a/tool/DotRecast.Tool.PublishToUniRecast/Program.cs b/tool/DotRecast.Tool.PublishToUniRecast/Program.cs
new file mode 100644
index 0000000..e5300e0
--- /dev/null
+++ b/tool/DotRecast.Tool.PublishToUniRecast/Program.cs
@@ -0,0 +1,169 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.Immutable;
+using System.IO;
+using System.Linq;
+
+namespace DotRecast.Tool.PublishToUniRecast;
+
+public static class Program
+{
+    public static void Main(string[] args)
+    {
+        var source = SearchDirectory("DotRecast");
+        var destination = SearchDirectory("UniRecast");
+
+        if (!Directory.Exists(source))
+        {
+            throw new Exception("not found source directory");
+        }
+
+        if (!Directory.Exists(destination))
+        {
+            throw new Exception("not found destination directory");
+        }
+
+        var ignorePaths = ImmutableArray.Create("bin", "obj");
+        var projs = ImmutableArray.Create(
+            // src
+            new CsProj("src", "DotRecast.Core", "Runtime"),
+            new CsProj("src", "DotRecast.Recast", "Runtime"),
+            new CsProj("src", "DotRecast.Detour", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Crowd", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Dynamic", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Extras", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.TileCache", "Runtime"),
+            new CsProj("src", "DotRecast.Recast.Toolset", "Runtime")
+        );
+
+
+        foreach (var proj in projs)
+        {
+            var sourcePath = Path.Combine(source, proj.RootPath, $"{proj.Name}");
+            var destPath = Path.Combine(destination, $"{proj.TargetPath}", $"{proj.Name}");
+            
+            SyncFiles(sourcePath, destPath, ignorePaths, "*.cs");
+        }
+
+        // // 몇몇 필요한 리소스 복사 하기
+        // string destResourcePath = destDotRecast + "/resources";
+        // if (!Directory.Exists(destResourcePath))
+        // {
+        //     Directory.CreateDirectory(destResourcePath);
+        // }
+
+        // string sourceResourcePath = Path.Combine(dotRecastPath, "resources/nav_test.obj");
+        // File.Copy(sourceResourcePath, destResourcePath + "/nav_test.obj", true);
+    }
+
+    public static string SearchPath(string searchPath, int depth, out bool isDir)
+    {
+        isDir = false;
+
+        for (int i = 0; i < depth; ++i)
+        {
+            var relativePath = string.Join("", Enumerable.Range(0, i).Select(x => "../"));
+            var searchingPath = Path.Combine(relativePath, searchPath);
+            var fullSearchingPath = Path.GetFullPath(searchingPath);
+
+            if (File.Exists(fullSearchingPath))
+            {
+                return fullSearchingPath;
+            }
+
+            if (Directory.Exists(fullSearchingPath))
+            {
+                isDir = true;
+                return fullSearchingPath;
+            }
+        }
+
+        return string.Empty;
+    }
+
+    // only directory
+    public static string SearchDirectory(string dirname, int depth = 10)
+    {
+        var searchingPath = SearchPath(dirname, depth, out var isDir);
+        if (isDir)
+        {
+            return searchingPath;
+        }
+
+        var path = Path.GetDirectoryName(searchingPath) ?? string.Empty;
+        return path;
+    }
+
+    public static string SearchFile(string filename, int depth = 10)
+    {
+        var searchingPath = SearchPath(filename, depth, out var isDir);
+        if (!isDir)
+        {
+            return searchingPath;
+        }
+
+        return string.Empty;
+    }
+
+    private static void SyncFiles(string srcRootPath, string dstRootPath, IList<string> ignoreFolders, string searchPattern = "*")
+    {
+        // 끝에서부터 이그노어 폴더일 경우 패스
+        var destLastFolderName = Path.GetFileName(dstRootPath);
+        if (ignoreFolders.Any(x => x == destLastFolderName))
+            return;
+
+        if (!Directory.Exists(dstRootPath))
+            Directory.CreateDirectory(dstRootPath);
+
+        // 소스파일 추출
+        var sourceFiles = Directory.GetFiles(srcRootPath, searchPattern).ToList();
+        var sourceFolders = Directory.GetDirectories(srcRootPath)
+            .Select(x => new DirectoryInfo(x))
+            .ToList();
+
+        // 대상 파일 추출
+        var destinationFiles = Directory.GetFiles(dstRootPath, searchPattern).ToList();
+        var destinationFolders = Directory.GetDirectories(dstRootPath)
+            .Select(x => new DirectoryInfo(x))
+            .ToList();
+
+        // 대상에 파일이 있는데, 소스에 없을 경우, 대상 파일을 삭제 한다.
+        foreach (var destinationFile in destinationFiles)
+        {
+            var destName = Path.GetFileName(destinationFile);
+            var found = sourceFiles.Any(x => Path.GetFileName(x) == destName);
+            if (found)
+                continue;
+
+            File.Delete(destinationFile);
+            Console.WriteLine($"delete file - {destinationFile}");
+        }
+
+        // 대상에 폴더가 있는데, 소스에 없을 경우, 대상 폴더를 삭제 한다.
+        foreach (var destinationFolder in destinationFolders)
+        {
+            var found = sourceFolders.Any(sourceFolder => sourceFolder.Name == destinationFolder.Name);
+            if (found)
+                continue;
+
+            Directory.Delete(destinationFolder.FullName, true);
+            Console.WriteLine($"delete folder - {destinationFolder.FullName}");
+        }
+
+        // 소스 파일을 복사 한다.
+        foreach (var sourceFile in sourceFiles)
+        {
+            var name = Path.GetFileName(sourceFile);
+            var dest = Path.Combine(dstRootPath, name);
+            File.Copy(sourceFile, dest, true);
+            Console.WriteLine($"copy - {sourceFile} => {dest}");
+        }
+
+        // 대상 폴더를 복사 한다
+        foreach (var sourceFolder in sourceFolders)
+        {
+            var dest = Path.Combine(dstRootPath, sourceFolder.Name);
+            SyncFiles(sourceFolder.FullName, dest, ignoreFolders, searchPattern);
+        }
+    }
+}
\ No newline at end of file

From 193fe6dce508ed1c8a9af89a0068854230449de2 Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Mon, 28 Oct 2024 23:28:35 +0900
Subject: [PATCH 146/147] fix publish error

---
 .../DotRecast.Tool.PublishToUniRecast.csproj                    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj b/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
index 70cfa9d..082a539 100644
--- a/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
+++ b/tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj
@@ -2,7 +2,7 @@
 
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFrameworks>net6.0;net8.0</TargetFrameworks>
+    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
     <IsPackable>false</IsPackable>
   </PropertyGroup>
 

From fba594724cf7ed84eff672c5b82b4c4a1027eb5b Mon Sep 17 00:00:00 2001
From: ikpil <ikpil@naver.com>
Date: Thu, 7 Nov 2024 00:50:47 +0900
Subject: [PATCH 147/147] Silk.NET" 2.22.0

---
 src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj | 4 ++--
 src/DotRecast.Recast.Demo/UI/ImFilePicker.cs           | 4 ++--
 src/DotRecast.Recast.Demo/UI/RcLogView.cs              | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
index cdb580f..fa14c2e 100644
--- a/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
+++ b/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj
@@ -27,8 +27,8 @@
     <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
     <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
-    <PackageReference Include="Silk.NET" Version="2.21.0" />
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.21.0" />
+    <PackageReference Include="Silk.NET" Version="2.22.0" />
+    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.22.0" />
   </ItemGroup>
 
   <ItemGroup>
diff --git a/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs b/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
index 329554a..a49c02a 100644
--- a/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
+++ b/src/DotRecast.Recast.Demo/UI/ImFilePicker.cs
@@ -69,7 +69,7 @@ public class ImFilePicker
         ImGui.Text("Current Folder: " + CurrentFolder);
         bool result = false;
 
-        if (ImGui.BeginChildFrame(1, new Vector2(1024, 400)))
+        if (ImGui.BeginChild(1, new Vector2(1024, 400)))
         {
             var di = new DirectoryInfo(CurrentFolder);
             if (di.Exists)
@@ -111,7 +111,7 @@ public class ImFilePicker
             }
         }
 
-        ImGui.EndChildFrame();
+        ImGui.EndChild();
 
 
         if (ImGui.Button("Cancel"))
diff --git a/src/DotRecast.Recast.Demo/UI/RcLogView.cs b/src/DotRecast.Recast.Demo/UI/RcLogView.cs
index fbdb7c2..2659c3e 100644
--- a/src/DotRecast.Recast.Demo/UI/RcLogView.cs
+++ b/src/DotRecast.Recast.Demo/UI/RcLogView.cs
@@ -80,7 +80,7 @@ public class RcLogView : IRcView
         }
 
 
-        if (ImGui.BeginChild("scrolling", Vector2.Zero, false, ImGuiWindowFlags.HorizontalScrollbar))
+        if (ImGui.BeginChild("scrolling", Vector2.Zero, ImGuiChildFlags.None, ImGuiWindowFlags.HorizontalScrollbar))
         {
             _isHovered = ImGui.IsWindowHovered(ImGuiHoveredFlags.RectOnly | ImGuiHoveredFlags.RootAndChildWindows);