fix bug where return value of dynamic update result is reversed

src/DotRecast.Core/IRcRand.cs

@@ -3,5 +3,7 @@
     public interface IRcRand
     {
         float Next();
+        double NextDouble();
+        int NextInt32();
     }
 }

src/DotRecast.Core/RcRand.cs

@@ -6,9 +6,13 @@ namespace DotRecast.Core
     {
         private readonly Random _r;
 
-        public RcRand()
+        public RcRand() : this(new Random())
         {
-            _r = new Random();
+        }
+
+        public RcRand(Random r)
+        {
+            _r = r;
         }
 
         public RcRand(long seed)
@@ -21,6 +25,11 @@ namespace DotRecast.Core
             return (float)_r.NextDouble();
         }
 
+        public double NextDouble()
+        {
+            return _r.NextDouble();
+        }
+
         public int NextInt32()
         {
             return _r.Next();

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -40,7 +40,7 @@ namespace DotRecast.Detour.Dynamic
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
         private DtNavMesh _navMesh;
-        private bool dirty = true;
+        private bool _dirty = true;
 
         public DtDynamicNavMesh(DtVoxelFile voxelFile)
         {
@@ -105,29 +105,6 @@ namespace DotRecast.Detour.Dynamic
             updateQueue.Add(new DtDynamicTileColliderRemovalJob(colliderId, GetTilesByCollider(colliderId)));
         }
 
-        /**
-     * Perform full build of the nav mesh
-     */
-        public void Build()
-        {
-            ProcessQueue();
-            Rebuild(_tiles.Values);
-        }
-
-        /**
-     * Perform incremental update of the nav mesh
-     */
-        public bool Update()
-        {
-            return Rebuild(ProcessQueue());
-        }
-
-        private bool Rebuild(ICollection<DtDynamicTile> stream)
-        {
-            foreach (var dynamicTile in stream)
-                Rebuild(dynamicTile);
-            return UpdateNavMesh();
-        }
 
         private HashSet<DtDynamicTile> ProcessQueue()
         {
@@ -159,27 +136,49 @@ namespace DotRecast.Detour.Dynamic
             }
         }
 
-        /**
+        // Perform full build of the navmesh
-     * Perform full build concurrently using the given {@link ExecutorService}
+        public void Build()
-     */
+        {
-        public Task<bool> Build(TaskFactory executor)
+            ProcessQueue();
+            Rebuild(_tiles.Values);
+        }
+
+        // Perform full build concurrently using the given {@link ExecutorService}
+        public bool Build(TaskFactory executor)
         {
             ProcessQueue();
             return Rebuild(_tiles.Values, executor);
         }
 
-        /**
+
-     * Perform incremental update concurrently using the given {@link ExecutorService}
+        // Perform incremental update of the navmesh
-     */
+        public bool Update()
-        public Task<bool> Update(TaskFactory executor)
+        {
+            return Rebuild(ProcessQueue());
+        }
+
+        // Perform incremental update concurrently using the given {@link ExecutorService}
+        public bool Update(TaskFactory executor)
         {
             return Rebuild(ProcessQueue(), executor);
         }
 
-        private Task<bool> Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        private bool Rebuild(ICollection<DtDynamicTile> tiles)
         {
-            var tasks = tiles.Select(tile => executor.StartNew(() => Rebuild(tile))).ToArray();
+            foreach (var tile in tiles)
-            return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
+                Rebuild(tile);
+            
+            return UpdateNavMesh();
+        }
+
+        private bool Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        {
+            var tasks = tiles
+                .Select(tile => executor.StartNew(() => Rebuild(tile)))
+                .ToArray();
+
+            Task.WaitAll(tasks);
+            return UpdateNavMesh();
         }
 
         private ICollection<DtDynamicTile> GetTiles(float[] bounds)
@@ -218,19 +217,19 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            dirty = dirty | tile.Build(builder, config, _context);
+            _dirty = _dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()
         {
-            if (dirty)
+            if (_dirty)
             {
                 DtNavMesh navMesh = new DtNavMesh(navMeshParams, MAX_VERTS_PER_POLY);
                 foreach (var t in _tiles.Values)
                     t.AddTo(navMesh);
 
-                this._navMesh = navMesh;
+                _navMesh = navMesh;
-                dirty = false;
+                _dirty = false;
                 return true;
             }
 

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

@@ -91,7 +91,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         var bridgeGeom = DemoInputGeomProvider.LoadFile("bridge.obj");
         var houseGeom = DemoInputGeomProvider.LoadFile("house.obj");
         var convexGeom = DemoInputGeomProvider.LoadFile("convex.obj");
-        _tool = new(Random.Shared, bridgeGeom, houseGeom, convexGeom);
+        _tool = new(new RcRand(Random.Shared), bridgeGeom, houseGeom, convexGeom);
         executor = Task.Factory;
     }
 
@@ -406,7 +406,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            bool updated = _tool.UpdateDynaMesh(executor);
+            bool updated = _tool.Update(executor);
             if (updated)
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
@@ -450,7 +450,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            var _ = dynaMesh.Build(executor).Result;
+            var _ = dynaMesh.Build(executor);
         }
         catch (Exception e)
         {

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

@@ -18,12 +18,12 @@ namespace DotRecast.Recast.Toolset.Tools
         private DtDynamicNavMesh dynaMesh;
         private readonly Dictionary<long, RcGizmo> colliderGizmos;
 
-        private readonly Random random;
+        private readonly IRcRand random;
         private readonly DemoInputGeomProvider bridgeGeom;
         private readonly DemoInputGeomProvider houseGeom;
         private readonly DemoInputGeomProvider convexGeom;
 
-        public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
+        public RcDynamicUpdateTool(IRcRand rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
         {
             this.colliderGizmos = new Dictionary<long, RcGizmo>();
             this.random = rand;
@@ -339,20 +339,14 @@ namespace DotRecast.Recast.Toolset.Tools
             return resultvector;
         }
 
-        public bool UpdateDynaMesh(TaskFactory executor)
+        public bool Update(TaskFactory executor)
         {
             if (dynaMesh == null)
             {
                 return false;
             }
 
-            bool updated = dynaMesh.Update(executor).Result;
+            return dynaMesh.Update(executor);
-            if (updated)
-            {
-                return false;
-            }
-
-            return true;
         }
 
         public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos)

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

@@ -10,7 +10,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-
 public class DynamicNavMeshTest
 {
     private static readonly RcVec3f START_POS = new RcVec3f(70.87453f, 0.0010070801f, 86.69021f);
@@ -32,9 +31,7 @@ public class DynamicNavMeshTest
         // create dynamic navmesh
         DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
+        mesh.Build(Task.Factory);
-        // wait for build to complete
-        bool _ = future.Result;
 
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
@@ -54,9 +51,8 @@ public class DynamicNavMeshTest
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
+        mesh.Update(Task.Factory);
-        // wait for update to complete
+
-        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -70,9 +66,7 @@ public class DynamicNavMeshTest
         // remove obstacle
         mesh.RemoveCollider(colliderId);
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
+        mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 

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

@@ -31,7 +31,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;
@@ -101,12 +100,12 @@ public class VoxelQueryTest
         // load voxels from file
         DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
         DtVoxelFile f = reader.Read(br);
+        
         // create dynamic navmesh
         var mesh = new DtDynamicNavMesh(f);
+        
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
+        mesh.Build(Task.Factory);
-        // wait for build to complete
-        var _ = future.Result;
         return mesh;
     }
 }