remove Detour.QueryResults.Result

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -25,7 +25,7 @@ using System.Collections.ObjectModel;
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Detour.Crowd.Tracking;
-using DotRecast.Detour.QueryResults;
+
 
 namespace DotRecast.Detour.Crowd
 {
@@ -560,6 +560,7 @@ namespace DotRecast.Detour.Crowd
             RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
 
             // Fire off new requests.
+            List<long> reqPath = new List<long>();
             foreach (DtCrowdAgent ag in agents)
             {
                 if (ag.state == CrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
@@ -580,27 +581,27 @@ namespace DotRecast.Detour.Crowd
                     {
                         throw new ArgumentException("Empty path");
                     }
+                    
 
                     // Quick search towards the goal.
                     _navQuery.InitSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
                         _filters[ag.option.queryFilterType], 0);
                     _navQuery.UpdateSlicedFindPath(_config.maxTargetFindPathIterations, out var _);
-                    Result<List<long>> pathFound;
+
+                    DtStatus status;
                     if (ag.targetReplan) // && npath > 10)
                     {
-                        // Try to use existing steady path during replan if
+                        // Try to use existing steady path during replan if possible.
-                        // possible.
+                        status = _navQuery.FinalizeSlicedFindPathPartial(path, ref reqPath);
-                        pathFound = _navQuery.FinalizeSlicedFindPathPartial(path);
                     }
                     else
                     {
                         // Try to move towards target when goal changes.
-                        pathFound = _navQuery.FinalizeSlicedFindPath();
+                        status = _navQuery.FinalizeSlicedFindPath(ref reqPath);
                     }
 
-                    List<long> reqPath = pathFound.result;
                     RcVec3f reqPos = new RcVec3f();
-                    if (pathFound.Succeeded() && reqPath.Count > 0)
+                    if (status.Succeeded() && reqPath.Count > 0)
                     {
                         // In progress or succeed.
                         if (reqPath[reqPath.Count - 1] != ag.targetRef)

src/DotRecast.Detour.Crowd/DtLocalBoundary.cs

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 
 namespace DotRecast.Detour.Crowd
 {

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 
 namespace DotRecast.Detour.Crowd
 {
@@ -349,13 +349,14 @@ namespace DotRecast.Detour.Crowd
                 return false;
             }
 
+            var res = new List<long>();
             navquery.InitSlicedFindPath(m_path[0], m_path[m_path.Count - 1], m_pos, m_target, filter, 0);
             navquery.UpdateSlicedFindPath(maxIterations, out var _);
-            Result<List<long>> fpr = navquery.FinalizeSlicedFindPathPartial(m_path);
+            var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
 
-            if (fpr.Succeeded() && fpr.result.Count > 0)
+            if (status.Succeeded() && res.Count > 0)
             {
-                m_path = MergeCorridorStartShortcut(m_path, fpr.result);
+                m_path = MergeCorridorStartShortcut(m_path, res);
                 return true;
             }
 

src/DotRecast.Detour.Crowd/DtPathQueue.cs

@@ -20,7 +20,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 
 namespace DotRecast.Detour.Crowd
 {
@@ -65,9 +65,7 @@ namespace DotRecast.Detour.Crowd
 
                 if (q.result.status.Succeeded())
                 {
-                    Result<List<long>> path = q.navQuery.FinalizeSlicedFindPath();
+                    q.result.status = q.navQuery.FinalizeSlicedFindPath(ref q.result.path);
-                    q.result.status = path.status;
-                    q.result.path = path.result;
                 }
 
                 if (!(q.result.status.Failed() || q.result.status.Succeeded()))

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

@@ -1,6 +1,6 @@
 using System;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -1,6 +1,5 @@
 using System;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtNavMesh.cs

@@ -22,7 +22,6 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -22,7 +22,6 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
 
 namespace DotRecast.Detour
 {
@@ -1333,14 +1332,18 @@ namespace DotRecast.Detour
         /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
         /// [(polyRef) * @p pathCount]
         /// @returns The status flags for the query.
-        public virtual Result<List<long>> FinalizeSlicedFindPath()
+        public virtual DtStatus FinalizeSlicedFindPath(ref List<long> path)
         {
-            List<long> path = new List<long>(64);
+            if (null == path)
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+
+            path.Clear();
+
             if (m_query.status.Failed())
             {
                 // Reset query.
                 m_query = new DtQueryData();
-                return Results.Failure(path);
+                return DtStatus.DT_FAILURE;
             }
 
             if (m_query.startRef == m_query.endRef)
@@ -1364,7 +1367,7 @@ namespace DotRecast.Detour
             // Reset query.
             m_query = new DtQueryData();
 
-            return Results.Of(DtStatus.DT_SUCCSESS | details, path);
+            return DtStatus.DT_SUCCSESS | details;
         }
 
         /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
@@ -1374,19 +1377,23 @@ namespace DotRecast.Detour
         /// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
         /// [(polyRef) * @p pathCount]
         /// @returns The status flags for the query.
-        public virtual Result<List<long>> FinalizeSlicedFindPathPartial(List<long> existing)
+        public virtual DtStatus FinalizeSlicedFindPathPartial(List<long> existing, ref List<long> path)
         {
-            List<long> path = new List<long>(64);
+            if (null == path)
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+
+            path.Clear();
+
             if (null == existing || existing.Count <= 0)
             {
-                return Results.Failure(path);
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
             if (m_query.status.Failed())
             {
                 // Reset query.
                 m_query = new DtQueryData();
-                return Results.Failure(path);
+                return DtStatus.DT_FAILURE;
             }
 
             if (m_query.startRef == m_query.endRef)
@@ -1409,18 +1416,19 @@ namespace DotRecast.Detour
 
                 if (node == null)
                 {
-                    m_query.status = DtStatus.DT_PARTIAL_RESULT;
+                    m_query.status |= DtStatus.DT_PARTIAL_RESULT;
                     node = m_query.lastBestNode;
                 }
 
                 GetPathToNode(node, ref path);
             }
 
-            DtStatus status = m_query.status;
+            var details = m_query.status & DtStatus.DT_STATUS_DETAIL_MASK;
+
             // Reset query.
             m_query = new DtQueryData();
 
-            return Results.Of(status, path);
+            return DtStatus.DT_SUCCSESS | details;
         }
 
         protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<StraightPathItem> straightPath,
@@ -3362,28 +3370,28 @@ namespace DotRecast.Detour
      * @remarks The result of this function depends on the state of the query object. For that reason it should only be
      *          used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
      */
-        public Result<List<long>> GetPathFromDijkstraSearch(long endRef)
+        public DtStatus GetPathFromDijkstraSearch(long endRef, ref List<long> path)
         {
-            if (!m_nav.IsValidPolyRef(endRef))
+            if (!m_nav.IsValidPolyRef(endRef) || null == path)
             {
-                return Results.InvalidParam<List<long>>("Invalid end ref");
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
+            
+            path.Clear();
 
             List<DtNode> nodes = m_nodePool.FindNodes(endRef);
             if (nodes.Count != 1)
             {
-                return Results.InvalidParam<List<long>>("Invalid end ref");
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
             DtNode endNode = nodes[0];
             if ((endNode.flags & DT_NODE_CLOSED) == 0)
             {
-                return Results.InvalidParam<List<long>>("Invalid end ref");
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
-            var path = new List<long>();
+            return GetPathToNode(endNode, ref path);
-            GetPathToNode(endNode, ref path);
-            return Results.Success(path);
         }
 
         // Gets the path leading to the specified end node.

src/DotRecast.Detour/DtQueryData.cs

@@ -22,14 +22,15 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    public class DtQueryData
+    public struct DtQueryData
     {
         public DtStatus status;
         public DtNode lastBestNode;
         public float lastBestNodeCost;
-        public long startRef, endRef;
+        public long startRef;
-        public RcVec3f startPos = new RcVec3f();
+        public long endRef;
-        public RcVec3f endPos = new RcVec3f();
+        public RcVec3f startPos;
+        public RcVec3f endPos;
         public IDtQueryFilter filter;
         public int options;
         public float raycastLimitSqr;

src/DotRecast.Detour/PathUtils.cs

@@ -21,7 +21,6 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/QueryResults/Result.cs

@@ -1,75 +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.Detour.QueryResults
-{
-    public static class Results
-    {
-        public static Result<T> Success<T>(T result)
-        {
-            return new Result<T>(result, DtStatus.DT_SUCCSESS, null);
-        }
-
-        public static Result<T> InvalidParam<T>()
-        {
-            return new Result<T>(default, DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM, null);
-        }
-
-        public static Result<T> InvalidParam<T>(string message)
-        {
-            return new Result<T>(default, DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM, message);
-        }
-
-        public static Result<T> Failure<T>(T result)
-        {
-            return new Result<T>(result, DtStatus.DT_FAILURE, null);
-        }
-
-        public static Result<T> Of<T>(DtStatus status, T result)
-        {
-            return new Result<T>(result, status, null);
-        }
-    }
-
-    public readonly struct Result<T>
-    {
-        public readonly T result;
-        public readonly DtStatus status;
-        public readonly string message;
-
-        internal Result(T result, DtStatus status, string message)
-        {
-            this.result = result;
-            this.status = status;
-            this.message = message;
-        }
-
-
-        public bool Failed()
-        {
-            return status.Failed();
-        }
-
-        public bool Succeeded()
-        {
-            return status.Succeeded();
-        }
-    }
-}

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

@@ -23,7 +23,7 @@ using System.Collections.Generic;
 using System.Numerics;
 using DotRecast.Core;
 using DotRecast.Detour;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast.DemoTool.Builder;
 using Silk.NET.OpenGL;
 

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

@@ -22,7 +22,7 @@ using System.Linq;
 using DotRecast.Core;
 using DotRecast.Detour;
 using DotRecast.Detour.Crowd;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast.DemoTool.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.DemoTool;

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

@@ -24,7 +24,7 @@ using DotRecast.Core;
 using DotRecast.Detour;
 using DotRecast.Detour.Crowd;
 using DotRecast.Detour.Crowd.Tracking;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast.DemoTool.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.DemoTool;

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

@@ -2,7 +2,7 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Detour;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast.DemoTool.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.DemoTool;
@@ -982,7 +982,7 @@ public class TestNavmeshTool : IRcTool
 
             if (m_pathFindStatus.Succeeded())
             {
-                m_polys = m_navQuery.FinalizeSlicedFindPath().result;
+                m_navQuery.FinalizeSlicedFindPath(ref m_polys);
                 m_straightPath = null;
                 if (m_polys != null)
                 {

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

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;

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

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using Moq;
 using NUnit.Framework;
 

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

@@ -4,7 +4,7 @@ using System.Threading.Tasks;
 using DotRecast.Core;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;

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

@@ -22,7 +22,7 @@ using System.Linq;
 using DotRecast.Core;
 using DotRecast.Detour.Extras.Unity.Astar;
 using DotRecast.Detour.Io;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Extras.Test.Unity.Astar;

test/DotRecast.Detour.Test/FindDistanceToWallTest.cs

@@ -17,7 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -17,7 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
@@ -156,6 +156,7 @@ public class FindPathTest : AbstractDetourTest
     public void TestFindPathSliced()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
+        var path = new List<long>();
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
@@ -169,12 +170,12 @@ public class FindPathTest : AbstractDetourTest
                 status = query.UpdateSlicedFindPath(10, out var _);
             }
 
-            Result<List<long>> path = query.FinalizeSlicedFindPath();
+            status = query.FinalizeSlicedFindPath(ref path);
-            Assert.That(path.status, Is.EqualTo(STATUSES[i]), $"index({i})");
+            Assert.That(status, Is.EqualTo(STATUSES[i]), $"index({i})");
-            Assert.That(path.result.Count, Is.EqualTo(RESULTS[i].Length));
+            Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length));
             for (int j = 0; j < RESULTS[i].Length; j++)
             {
-                Assert.That(path.result[j], Is.EqualTo(RESULTS[i][j]));
+                Assert.That(path[j], Is.EqualTo(RESULTS[i][j]));
             }
         }
     }

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -17,7 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs

@@ -17,7 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -17,7 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -19,7 +19,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Diagnostics;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 using static DotRecast.Core.RcMath;
 

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;

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

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using System.Collections.Generic;
 using System.IO;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Detour.TileCache.Io;
 using NUnit.Framework;
 

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

@@ -20,7 +20,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Detour.QueryResults;
+
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 using NUnit.Framework;