added DtNavMesh.Init()

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)

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;

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.offMeshConVerts = Array.Empty<float>();
-            option.offMeshConRad = new float[0];
+            option.offMeshConRad = Array.Empty<float>();
-            option.offMeshConDir = new int[0];
+            option.offMeshConDir = Array.Empty<int>();
-            option.offMeshConAreas = new int[0];
+            option.offMeshConAreas = Array.Empty<int>();
-            option.offMeshConFlags = new int[0];
+            option.offMeshConFlags = Array.Empty<int>();
-            option.offMeshConUserID = new int[0];
+            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
             {

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);
         }
 
 

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;

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;

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);
             }
         }
 

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);

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 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 RcVec3f m_orig; // < Origin of the tile (0,0)
-        private readonly float m_tileWidth; // < Dimensions of each tile.
+        private float m_tileWidth; // < Dimensions of each tile.
-        private readonly float m_tileHeight; // < Dimensions of each tile.
+        private float m_tileHeight; // < Dimensions of each tile.
-        private readonly int m_maxTiles; // < Max number of tiles.
+        private int m_maxTiles; // < Max number of tiles.
-        private readonly int m_tileLutMask; // < Tile hash lookup mask.
+        private int m_tileLutMask; // < Tile hash lookup mask.
 
-        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
+        private Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
-        private readonly LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
+        private LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
-        private readonly DtMeshTile[] m_tiles; //< List 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)
+        public DtStatus Init(DtNavMeshParams option, int maxVertsPerPoly)
-            : this(GetNavMeshParams(data), maxVertsPerPoly)
-        {
-            AddTile(data, flags, 0);
-        }
-
-        public DtNavMesh(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)
@@ -328,30 +334,20 @@ 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
+        /// The add operation will fail if the data is in the wrong format, the allocated tile
-        /// 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
+        /// 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.
         ///
@@ -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.

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 _);
             }
         }
 

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)

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);
+            DtNavMesh navMesh = new DtNavMesh();
-            meshData.ForEach(md => navMesh.AddTile(md, 0, 0));
+            navMesh.Init(navMeshParams, vertsPerPoly);
+            meshData.ForEach(md => navMesh.AddTile(md, 0, 0, out _));
             return navMesh;
         }
 

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);

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);

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;
     }
 }

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 _);
                 }
             }
         }

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 _);
         }
     }
 

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();