fix netstandard21

README.md

@@ -1,3 +1,14 @@
 # DotRecast
-- https://github.com/recastnavigation/recastnavigation
-- https://github.com/ppiastucki/recast4j
+DotRecast is a port of recast4j(https://github.com/ppiastucki/recast4j) to C# and has been built to target netstandard2.1 to work with both Unity and pure C#.
+
+If you're using Unity 3D, the following projects have been modified to build with netstandard2.1:
+
+- DotRecast.Core
+- DotRecast.Recast
+- DotRecast.Detour
+- DotRecast.Detour.Crowd
+- DotRecast.Detour.Dynamic
+- DotRecast.Detour.Extras
+- DotRecast.Detour.TileCache
+
+ Please feel free to copy and use these projects in Unity 3D. We plan to continue improving them as time goes on.

src/DotRecast.Core/ArrayUtils.cs

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public static class ArrayUtils
 {
@@ -38,4 +40,5 @@ public static class ArrayUtils
 
         return temp;
     } 
+}
 }

src/DotRecast.Core/AtomicBoolean.cs

@@ -1,6 +1,8 @@
 using System.Threading;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class AtomicBoolean
 {
@@ -15,4 +17,5 @@ public class AtomicBoolean
     {
         return 0 != _location;
     }
+}
 }

src/DotRecast.Core/AtomicFloat.cs

@@ -1,6 +1,8 @@
 using System.Threading;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class AtomicFloat
 {
@@ -25,4 +27,5 @@ public class AtomicFloat
     {
         return Interlocked.CompareExchange(ref _location, value, comparand);
     }
+}
 }

src/DotRecast.Core/AtomicInteger.cs

@@ -1,6 +1,8 @@
 using System.Threading;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class AtomicInteger
 {
@@ -63,4 +65,5 @@ public class AtomicInteger
         return Interlocked.Add(ref _location, value);
     }
  
+}
 }

src/DotRecast.Core/AtomicLong.cs

@@ -1,6 +1,8 @@
 using System.Threading;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class AtomicLong
 {
@@ -49,4 +51,5 @@ public class AtomicLong
     {
         return Interlocked.Add(ref _location, value);
     }
+}
 }

src/DotRecast.Core/ByteBuffer.cs

@@ -1,7 +1,9 @@
 using System;
 using System.Buffers.Binary;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class ByteBuffer
 {
@@ -93,14 +95,16 @@ public class ByteBuffer
     public float getFloat()
     {
         var span = ReadBytes(4);
-        if (_order == ByteOrder.BIG_ENDIAN)
+        if (_order == ByteOrder.BIG_ENDIAN && BitConverter.IsLittleEndian)
         {
-            return BinaryPrimitives.ReadSingleBigEndian(span);
+            span.Reverse();
         }
-        else
+        else if (_order == ByteOrder.LITTLE_ENDIAN && !BitConverter.IsLittleEndian)
         {
-            return BinaryPrimitives.ReadSingleLittleEndian(span);
+            span.Reverse();
         }
+
+        return BitConverter.ToSingle(span);
     }
 
     public long getLong()
@@ -125,4 +129,5 @@ public class ByteBuffer
     {
         // ?
     }
+}
 }

src/DotRecast.Core/ByteOrder.cs

@@ -1,8 +1,12 @@
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public enum ByteOrder
 {
     /// <summary>Default on most Windows systems</summary>
     LITTLE_ENDIAN,
     BIG_ENDIAN,
+}
+
 }

src/DotRecast.Core/CollectionExtensions.cs

@@ -1,7 +1,9 @@
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public static class CollectionExtensions
 {
@@ -26,4 +28,5 @@ public static class CollectionExtensions
             list[n] = value;
         }
     }
+}
 }

src/DotRecast.Core/ConvexUtils.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public static class ConvexUtils {
 
@@ -27,7 +29,7 @@ public static class ConvexUtils {
     // returns number of points on hull.
     public static List<int> convexhull(List<float> pts) {
         int npts = pts.Count / 3;
-        List<int> @out = new();
+        List<int> @out = new List<int>();
         // Find lower-leftmost point.
         int hull = 0;
         for (int i = 1; i < npts; ++i) {
@@ -83,3 +85,5 @@ public static class ConvexUtils {
     }
 
 }
+
+}

src/DotRecast.Core/DemoMath.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public class DemoMath {
     public static float vDistSqr(float[] v1, float[] v2, int i) {
@@ -77,3 +79,5 @@ public class DemoMath {
         return u * g + (1f - u) * f;
     }
 }
+
+}

src/DotRecast.Core/DotRecast.Core.csproj

@@ -1,9 +1,12 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFramework>net7.0</TargetFramework>
-        
-        
+        <TargetFramework>netstandard2.1</TargetFramework>
     </PropertyGroup>
+    
+    <ItemGroup>
+        <PackageReference Include="System.Collections.Immutable" Version="7.0.0" />
+        <PackageReference Include="System.Text.Json" Version="7.0.2" />
+    </ItemGroup>
 
 </Project>

src/DotRecast.Core/Loader.cs

@@ -1,6 +1,8 @@
 using System.IO;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 public static class Loader
 {
@@ -29,4 +31,5 @@ public static class Loader
 
         return filename;
     }
+}
 }

src/DotRecast.Core/NodeQueue.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Core;
+namespace DotRecast.Core
+{
+
 
 using System.Collections.Generic;
 
@@ -32,7 +34,7 @@ public class OrderedQueue<T>
 
     public OrderedQueue(Comparison<T> comparison)
     {
-        _items = new();
+        _items = new List<T>();
         _comparison = comparison;
     }
 
@@ -71,3 +73,5 @@ public class OrderedQueue<T>
         return 0 == _items.Count;
     }
 }
+
+}

src/DotRecast.Detour.Crowd/Crowd.cs

@@ -25,7 +25,9 @@ using System.Collections.ObjectModel;
 using DotRecast.Core;
 using DotRecast.Detour.Crowd.Tracking;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
@@ -177,7 +179,7 @@ public class Crowd {
 
         // Allocate temp buffer for merging paths.
         m_pathq = new PathQueue(config);
-        m_agents = new();
+        m_agents = new HashSet<CrowdAgent>();
 
         // The navQuery is mostly used for local searches, no need for large node pool.
         navMesh = nav;
@@ -334,7 +336,7 @@ public class Crowd {
      * @return List of active agents
      */
     public List<CrowdAgent> getActiveAgents() {
-        return new(m_agents);
+        return new List<CrowdAgent>(m_agents);
     }
 
     public float[] getQueryExtents() {
@@ -516,7 +518,7 @@ public class Crowd {
     private void updateMoveRequest(ICollection<CrowdAgent> agents, float dt) {
         _telemetry.start("updateMoveRequest");
 
-        OrderedQueue<CrowdAgent> queue = new((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
+        OrderedQueue<CrowdAgent> queue = new OrderedQueue<CrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
 
         // Fire off new requests.
         foreach (CrowdAgent ag in agents) {
@@ -559,7 +561,7 @@ public class Crowd {
                         if (cr.succeeded()) {
                             reqPos = cr.result.getClosest();
                         } else {
-                            reqPath = new();
+                            reqPath = new List<long>();
                         }
                     } else {
                         vCopy(reqPos, ag.targetPos);
@@ -568,7 +570,7 @@ public class Crowd {
                     // Could not find path, start the request from current
                     // location.
                     vCopy(reqPos, ag.npos);
-                    reqPath = new();
+                    reqPath = new List<long>();
                     reqPath.Add(path[0]);
                 }
 
@@ -717,7 +719,7 @@ public class Crowd {
     private void updateTopologyOptimization(ICollection<CrowdAgent> agents, float dt) {
         _telemetry.start("updateTopologyOptimization");
 
-        OrderedQueue<CrowdAgent> queue = new((a1, a2) => a2.topologyOptTime.CompareTo(a1.topologyOptTime));
+        OrderedQueue<CrowdAgent> queue = new OrderedQueue<CrowdAgent>((a1, a2) => a2.topologyOptTime.CompareTo(a1.topologyOptTime));
 
         foreach (CrowdAgent ag in agents) {
             if (ag.state != CrowdAgent.CrowdAgentState.DT_CROWDAGENT_STATE_WALKING) {
@@ -779,7 +781,7 @@ public class Crowd {
 
     private List<CrowdNeighbour> getNeighbours(float[] pos, float height, float range, CrowdAgent skip, ProximityGrid grid) {
 
-        List<CrowdNeighbour> result = new();
+        List<CrowdNeighbour> result = new List<CrowdNeighbour>();
         HashSet<CrowdAgent> proxAgents = grid.queryItems(pos[0] - range, pos[2] - range, pos[0] + range, pos[2] + range);
 
         foreach (CrowdAgent ag in proxAgents) {
@@ -1170,3 +1172,5 @@ public class Crowd {
     };
 
 }
+
+}

src/DotRecast.Detour.Crowd/CrowdAgent.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
@@ -60,7 +62,7 @@ public class CrowdAgent {
     /// Time since the agent's path corridor was optimized.
     public float topologyOptTime;
     /// The known neighbors of the agent.
-    public List<Crowd.CrowdNeighbour> neis = new();
+    public List<Crowd.CrowdNeighbour> neis = new List<Crowd.CrowdNeighbour>();
     /// The desired speed.
     public float desiredSpeed;
 
@@ -78,7 +80,7 @@ public class CrowdAgent {
     /// The agent's configuration parameters.
     public CrowdAgentParams option;
     /// The local path corridor corners for the agent.
-    public List<StraightPathItem> corners = new();
+    public List<StraightPathItem> corners = new List<StraightPathItem>();
 
     public MoveRequestState targetState; /// < State of the movement request.
     public long targetRef; /// < Target polyref of the movement request.
@@ -189,4 +191,5 @@ public class CrowdAgent {
         }
     }
 
+}
 }

src/DotRecast.Detour.Crowd/CrowdAgentAnimation.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class CrowdAgentAnimation {
     public bool active;
@@ -28,3 +30,5 @@ public class CrowdAgentAnimation {
     public float t, tmax;
 
 }
+
+}

src/DotRecast.Detour.Crowd/CrowdAgentParams.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 /// Configuration parameters for a crowd agent.
 /// @ingroup crowd
@@ -59,4 +61,5 @@ public class CrowdAgentParams {
 
     /// User defined data attached to the agent.
     public object userData;
+}
 }

src/DotRecast.Detour.Crowd/CrowdConfig.cs

@@ -16,7 +16,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class CrowdConfig {
 
@@ -64,3 +66,5 @@ public class CrowdConfig {
     }
 
 }
+
+}

src/DotRecast.Detour.Crowd/CrowdTelemetry.cs

@@ -21,7 +21,9 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 
 public class CrowdTelemetry {
@@ -29,8 +31,8 @@ public class CrowdTelemetry {
     public const int TIMING_SAMPLES = 10;
     private float _maxTimeToEnqueueRequest;
     private float _maxTimeToFindPath;
-    private readonly Dictionary<string, long> _executionTimings = new();
-    private readonly Dictionary<string, List<long>> _executionTimingSamples = new();
+    private readonly Dictionary<string, long> _executionTimings = new Dictionary<string, long>();
+    private readonly Dictionary<string, List<long>> _executionTimingSamples = new Dictionary<string, List<long>>();
 
     public float maxTimeToEnqueueRequest() {
         return _maxTimeToEnqueueRequest;
@@ -66,7 +68,7 @@ public class CrowdTelemetry {
         long duration = Stopwatch.GetTimestamp() - _executionTimings[name];
         if (!_executionTimingSamples.TryGetValue(name, out var s))
         {
-            s = new();
+            s = new List<long>();
             _executionTimingSamples.Add(name, s);
         }
         
@@ -77,3 +79,5 @@ public class CrowdTelemetry {
         _executionTimings[name] = (long) s.Average();
     }
 }
+
+}

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

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
+    <TargetFramework>netstandard2.1</TargetFramework>
     
   </PropertyGroup>
 

src/DotRecast.Detour.Crowd/LocalBoundary.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
@@ -37,8 +39,8 @@ public class LocalBoundary {
     }
 
     float[] m_center = new float[3];
-    List<Segment> m_segs = new();
-    List<long> m_polys = new();
+    List<Segment> m_segs = new List<Segment>();
+    List<long> m_polys = new List<long>();
 
     public LocalBoundary() {
         m_center[0] = m_center[1] = m_center[2] = float.MaxValue;
@@ -135,3 +137,5 @@ public class LocalBoundary {
         return m_segs.Count;
     }
 }
+
+}

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Detour.Crowd.Tracking;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
@@ -507,3 +509,5 @@ public class ObstacleAvoidanceQuery {
         return Tuple.Create(ns, nvel);
     }
 }
+
+}

src/DotRecast.Detour.Crowd/PathCorridor.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
@@ -95,7 +97,7 @@ public class PathCorridor {
         // Concatenate paths.
 
         // Adjust beginning of the buffer to include the visited.
-        List<long> result = new();
+        List<long> result = new List<long>();
         // Store visited
         for (int i = visited.Count - 1; i > furthestVisited; --i) {
             result.Add(visited[i]);
@@ -171,7 +173,7 @@ public class PathCorridor {
      * Allocates the corridor's path buffer.
      */
     public PathCorridor() {
-        m_path = new();
+        m_path = new List<long>();
     }
 
     /**
@@ -209,7 +211,7 @@ public class PathCorridor {
      * @return Corners
      */
     public List<StraightPathItem> findCorners(int maxCorners, NavMeshQuery navquery, QueryFilter filter) {
-        List<StraightPathItem> path = new();
+        List<StraightPathItem> path = new List<StraightPathItem>();
         Result<List<StraightPathItem>> result = navquery.findStraightPath(m_pos, m_target, m_path, maxCorners, 0);
         if (result.succeeded()) {
             path = result.result;
@@ -441,7 +443,7 @@ public class PathCorridor {
 
     public void setCorridor(float[] target, List<long> path) {
         vCopy(m_target, target);
-        m_path = new(path);
+        m_path = new List<long>(path);
     }
 
     public void fixPathStart(long safeRef, float[] safePos) {
@@ -560,3 +562,5 @@ public class PathCorridor {
         return m_path.Count;
     }
 }
+
+}

src/DotRecast.Detour.Crowd/PathQuery.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class PathQuery {
     /// Path find start and end location.
@@ -30,3 +32,5 @@ public class PathQuery {
     public NavMeshQuery navQuery;
 
 }
+
+}

src/DotRecast.Detour.Crowd/PathQueryResult.cs

@@ -18,9 +18,13 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class PathQueryResult {
     public Status status;
-    public List<long> path = new();
+    public List<long> path = new List<long>();
 }
+
+}

src/DotRecast.Detour.Crowd/PathQueue.cs

@@ -20,14 +20,16 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 using static DetourCommon;
 
 public class PathQueue {
 
     private readonly CrowdConfig config;
-    private readonly LinkedList<PathQuery> queue = new();
+    private readonly LinkedList<PathQuery> queue = new LinkedList<PathQuery>();
 
     public PathQueue(CrowdConfig config) {
         this.config = config;
@@ -81,3 +83,5 @@ public class PathQueue {
     }
 
 }
+
+}

src/DotRecast.Detour.Crowd/ProximityGrid.cs

@@ -22,7 +22,9 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class ProximityGrid {
 
@@ -33,7 +35,7 @@ public class ProximityGrid {
     public ProximityGrid(float m_cellSize) {
         this.m_cellSize = m_cellSize;
         m_invCellSize = 1.0f / m_cellSize;
-        items = new();
+        items = new Dictionary<ItemKey, List<CrowdAgent>>();
     }
 
     void clear() {
@@ -50,7 +52,7 @@ public class ProximityGrid {
             for (int x = iminx; x <= imaxx; ++x) {
                 ItemKey key = new ItemKey(x, y);
                 if (!items.TryGetValue(key, out var ids)) {
-                    ids = new();
+                    ids = new List<CrowdAgent>();
                     items.Add(key, ids);
                 }
                 ids.Add(agent);
@@ -64,7 +66,7 @@ public class ProximityGrid {
         int imaxx = (int) Math.Floor(maxx * m_invCellSize);
         int imaxy = (int) Math.Floor(maxy * m_invCellSize);
 
-        HashSet<CrowdAgent> result = new();
+        HashSet<CrowdAgent> result = new HashSet<CrowdAgent>();
         for (int y = iminy; y <= imaxy; ++y) {
             for (int x = iminx; x <= imaxx; ++x) {
                 ItemKey key = new ItemKey(x, y);
@@ -128,3 +130,5 @@ public class ProximityGrid {
 
     };
 }
+
+}

src/DotRecast.Detour.Crowd/SweepCircleCircleResult.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Crowd;
+namespace DotRecast.Detour.Crowd
+{
+
 
 public class SweepCircleCircleResult {
 
@@ -32,3 +34,5 @@ public class SweepCircleCircleResult {
     }
 
 }
+
+}

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

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Crowd.Tracking;
+namespace DotRecast.Detour.Crowd.Tracking
+{
+
 
 public class CrowdAgentDebugInfo {
 
@@ -27,3 +29,5 @@ public class CrowdAgentDebugInfo {
     public ObstacleAvoidanceDebugData vod;
 
 }
+
+}

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

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour.Crowd.Tracking;
+namespace DotRecast.Detour.Crowd.Tracking
+{
+
 
 using static DetourCommon;
 
@@ -122,4 +124,5 @@ public class ObstacleAvoidanceDebugData {
     public float getSampleCollisionTimePenalty(int i) {
         return m_tpen[i];
     }
+}
 }

src/DotRecast.Detour.Dynamic/AddColliderQueueItem.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.Collections.Generic;
 using DotRecast.Detour.Dynamic.Colliders;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class AddColliderQueueItem : UpdateQueueItem {
 
@@ -42,3 +44,5 @@ public class AddColliderQueueItem : UpdateQueueItem {
     }
 
 }
+
+}

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

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public abstract class AbstractCollider : Collider {
 
@@ -42,3 +44,5 @@ public abstract class AbstractCollider : Collider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class BoxCollider : AbstractCollider {
 
@@ -77,3 +79,5 @@ public class BoxCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class CapsuleCollider : AbstractCollider {
 
@@ -47,3 +49,5 @@ public class CapsuleCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -18,10 +18,14 @@ freely, subject to the following restrictions:
 
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public interface Collider {
 
     float[] bounds();
     void rasterize(Heightfield hf, Telemetry telemetry);
 }
+
+}

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

@@ -21,7 +21,9 @@ using System.Collections.Generic;
 using System.Linq;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class CompositeCollider : Collider {
 
@@ -63,3 +65,5 @@ public class CompositeCollider : Collider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class ConvexTrimeshCollider : AbstractCollider {
 
@@ -44,3 +46,5 @@ public class ConvexTrimeshCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class CylinderCollider : AbstractCollider {
 
@@ -46,3 +48,5 @@ public class CylinderCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class SphereCollider : AbstractCollider {
 
@@ -43,3 +45,5 @@ public class SphereCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Colliders;
+namespace DotRecast.Detour.Dynamic.Colliders
+{
+
 
 public class TrimeshCollider : AbstractCollider {
 
@@ -59,3 +61,5 @@ public class TrimeshCollider : AbstractCollider {
     }
 
 }
+
+}

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

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
+    <TargetFramework>netstandard2.1</TargetFramework>
     
   </PropertyGroup>
 

src/DotRecast.Detour.Dynamic/DynamicNavMesh.cs

@@ -27,17 +27,19 @@ using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class DynamicNavMesh {
 
     public const int MAX_VERTS_PER_POLY = 6;
     public readonly DynamicNavMeshConfig config;
     private readonly RecastBuilder builder;
-    private readonly Dictionary<long, DynamicTile> _tiles = new();
+    private readonly Dictionary<long, DynamicTile> _tiles = new Dictionary<long, DynamicTile>();
     private readonly Telemetry telemetry;
     private readonly NavMeshParams navMeshParams;
-    private readonly BlockingCollection<UpdateQueueItem> updateQueue = new();
+    private readonly BlockingCollection<UpdateQueueItem> updateQueue = new BlockingCollection<UpdateQueueItem>();
     private readonly AtomicLong currentColliderId = new AtomicLong(0);
     private NavMesh _navMesh;
     private bool dirty = true;
@@ -127,7 +129,7 @@ public class DynamicNavMesh {
     }
 
     private List<UpdateQueueItem> consumeQueue() {
-        List<UpdateQueueItem> items = new();
+        List<UpdateQueueItem> items = new List<UpdateQueueItem>();
         while (updateQueue.TryTake(out var item)) {
             items.Add(item);
         }
@@ -170,7 +172,7 @@ public class DynamicNavMesh {
         int minz = (int) Math.Floor((bounds[2] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
         int maxx = (int) Math.Floor((bounds[3] - navMeshParams.orig[0]) / navMeshParams.tileWidth);
         int maxz = (int) Math.Floor((bounds[5] - navMeshParams.orig[2]) / navMeshParams.tileHeight);
-        List<DynamicTile> tiles = new();
+        List<DynamicTile> tiles = new List<DynamicTile>();
         for (int z = minz; z <= maxz; ++z) {
             for (int x = minx; x <= maxx; ++x) {
                 DynamicTile tile = getTileAt(x, z);
@@ -224,3 +226,5 @@ public class DynamicNavMesh {
     }
 
 }
+
+}

src/DotRecast.Detour.Dynamic/DynamicNavMeshConfig.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class DynamicNavMeshConfig {
 
@@ -54,3 +56,5 @@ public class DynamicNavMeshConfig {
     }
 
 }
+
+}

src/DotRecast.Detour.Dynamic/DynamicTile.cs

@@ -20,13 +20,14 @@ using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Collections.Immutable;
-using System.Collections.ObjectModel;
 using System.Linq;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class DynamicTile {
 
@@ -34,7 +35,7 @@ public class DynamicTile {
     public DynamicTileCheckpoint checkpoint;
     public RecastBuilderResult recastResult;
     MeshData meshData;
-    private readonly ConcurrentDictionary<long, Collider> colliders = new();
+    private readonly ConcurrentDictionary<long, Collider> colliders = new ConcurrentDictionary<long, Collider>();
     private bool dirty = true;
     private long id;
 
@@ -55,7 +56,7 @@ public class DynamicTile {
     }
 
     private Heightfield buildHeightfield(DynamicNavMeshConfig config, Telemetry telemetry) {
-        ICollection<long> rasterizedColliders = checkpoint != null ? checkpoint.colliders : ImmutableArray<long>.Empty;
+        ICollection<long> rasterizedColliders = checkpoint != null ? checkpoint.colliders : ImmutableHashSet<long>.Empty;
         Heightfield heightfield = checkpoint != null ? checkpoint.heightfield : voxelTile.heightfield();
         foreach (var (cid, c) in colliders) {
             if (!rasterizedColliders.Contains(cid)) {
@@ -152,3 +153,5 @@ public class DynamicTile {
         }
     }
 }
+
+}

src/DotRecast.Detour.Dynamic/DynamicTileCheckpoint.cs

@@ -21,7 +21,9 @@ using DotRecast.Recast;
 
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class DynamicTileCheckpoint {
 
@@ -59,3 +61,5 @@ public class DynamicTileCheckpoint {
     }
 
 }
+
+}

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

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 public static class ByteUtils {
 
@@ -50,28 +52,30 @@ public static class ByteUtils {
 
     public static int putInt(int value, byte[] data, int position, ByteOrder order) {
         if (order == ByteOrder.BIG_ENDIAN) {
-            data[position] = (byte) (value >>> 24);
-            data[position + 1] = (byte) (value >>> 16);
-            data[position + 2] = (byte) (value >>> 8);
+            data[position] = (byte) ((uint)value >> 24);
+            data[position + 1] = (byte) ((uint)value >> 16);
+            data[position + 2] = (byte) ((uint)value >> 8);
             data[position + 3] = (byte) (value & 0xFF);
         } else {
             data[position] = (byte) (value & 0xFF);
-            data[position + 1] = (byte) (value >>> 8);
-            data[position + 2] = (byte) (value >>> 16);
-            data[position + 3] = (byte) (value >>> 24);
+            data[position + 1] = (byte) ((uint)value >> 8);
+            data[position + 2] = (byte) ((uint)value >> 16);
+            data[position + 3] = (byte) ((uint)value >> 24);
         }
         return position + 4;
     }
 
     public static int putShort(int value, byte[] data, int position, ByteOrder order) {
         if (order == ByteOrder.BIG_ENDIAN) {
-            data[position] = (byte) (value >>> 8);
+            data[position] = (byte) ((uint)value >> 8);
             data[position + 1] = (byte) (value & 0xFF);
         } else {
             data[position] = (byte) (value & 0xFF);
-            data[position + 1] = (byte) (value >>> 8);
+            data[position + 1] = (byte) ((uint)value >> 8);
         }
         return position + 2;
     }
 
 }
+
+}

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

@@ -20,7 +20,9 @@ using System;
 using DotRecast.Core;
 using K4os.Compression.LZ4;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 public class LZ4VoxelTileCompressor {
 
@@ -38,3 +40,5 @@ public class LZ4VoxelTileCompressor {
     }
 
 }
+
+}

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

@@ -21,7 +21,9 @@ using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 public class VoxelFile {
 
@@ -54,7 +56,7 @@ public class VoxelFile {
     public int tileSizeZ;
     public float[] rotation = new float[3];
     public float[] bounds = new float[6];
-    public readonly List<VoxelTile> tiles = new();
+    public readonly List<VoxelTile> tiles = new List<VoxelTile>();
 
     public void addTile(VoxelTile tile) {
         tiles.Add(tile);
@@ -146,3 +148,5 @@ public class VoxelFile {
     }
 
 }
+
+}

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

@@ -20,7 +20,9 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Detour.Io;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 public class VoxelFileReader {
 
@@ -123,3 +125,5 @@ public class VoxelFileReader {
     }
 
 }
+
+}

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

@@ -20,7 +20,9 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Detour.Io;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 public class VoxelFileWriter : DetourWriter {
 
@@ -87,3 +89,5 @@ public class VoxelFileWriter : DetourWriter {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using DotRecast.Core;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic.Io;
+namespace DotRecast.Detour.Dynamic.Io
+{
+
 
 
 public class VoxelTile {
@@ -179,3 +181,5 @@ public class VoxelTile {
         return data;
     }
 }
+
+}

src/DotRecast.Detour.Dynamic/RemoveColliderQueueItem.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public class RemoveColliderQueueItem : UpdateQueueItem {
 
@@ -39,3 +41,5 @@ public class RemoveColliderQueueItem : UpdateQueueItem {
     }
 
 }
+
+}

src/DotRecast.Detour.Dynamic/UpdateQueueItem.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 public interface UpdateQueueItem {
 
@@ -27,3 +29,5 @@ public interface UpdateQueueItem {
     void process(DynamicTile tile);
 
 }
+
+}

src/DotRecast.Detour.Dynamic/VoxelQuery.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Dynamic;
+namespace DotRecast.Detour.Dynamic
+{
+
 
 
 /**
@@ -158,3 +160,5 @@ public class VoxelQuery {
     }
 
 }
+
+}

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Extras;
+namespace DotRecast.Detour.Extras
+{
+
 
 public class BVTreeBuilder {
 
@@ -53,3 +55,5 @@ public class BVTreeBuilder {
     }
 
 }
+
+}

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

@@ -1,8 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
-    
+    <TargetFramework>netstandard2.1</TargetFramework>
   </PropertyGroup>
 
   <ItemGroup>

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

@@ -3,7 +3,9 @@ using System;
 using DotRecast.Recast;
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public abstract class AbstractGroundSampler : GroundSampler {
 
@@ -46,3 +48,5 @@ public abstract class AbstractGroundSampler : GroundSampler {
     }
 
 }
+
+}

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

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class ClimbTrajectory : Trajectory {
 
@@ -11,3 +13,5 @@ public class ClimbTrajectory : Trajectory {
     }
 
 }
+
+}

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

@@ -1,6 +1,10 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class Edge {
     public readonly float[] sp = new float[3];
     public readonly float[] sq = new float[3];
 }
+
+}

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

@@ -3,11 +3,13 @@ using DotRecast.Recast;
 using static DotRecast.Recast.RecastConstants;
 
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class EdgeExtractor {
     public Edge[] extractEdges(PolyMesh mesh) {
-        List<Edge> edges = new();
+        List<Edge> edges = new List<Edge>();
         if (mesh != null) {
             float[] orig = mesh.bmin;
             float cs = mesh.cs;
@@ -56,3 +58,5 @@ public class EdgeExtractor {
     }
 
 }
+
+}

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

@@ -2,11 +2,13 @@
 using System.Collections.Generic;
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class EdgeSampler {
     public readonly GroundSegment start = new GroundSegment();
-    public readonly List<GroundSegment> end = new();
+    public readonly List<GroundSegment> end = new List<GroundSegment>();
     public readonly Trajectory trajectory;
 
     public readonly float[] ax = new float[3];
@@ -23,3 +25,5 @@ public class EdgeSampler {
     }
 
 }
+
+}

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

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 class EdgeSamplerFactory {
 
@@ -77,3 +79,5 @@ class EdgeSamplerFactory {
     }
 
 }
+
+}

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

@@ -1,7 +1,11 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class GroundSample {
     public readonly float[] p = new float[3];
     public bool validTrajectory;
     public bool validHeight;
 }
+
+}

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

@@ -1,9 +1,13 @@
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public interface GroundSampler {
 
     void sample(JumpLinkBuilderConfig acfg, RecastBuilderResult result, EdgeSampler es);
 
 }
+
+}

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

@@ -1,4 +1,6 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class GroundSegment {
     public readonly float[] p = new float[3];
@@ -7,3 +9,5 @@ public class GroundSegment {
     public float height;
 
 }
+
+}

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

@@ -1,4 +1,6 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class JumpLink {
 
@@ -13,3 +15,5 @@ public class JumpLink {
     public Trajectory trajectory;
 
 }
+
+}

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

@@ -5,7 +5,9 @@ using DotRecast.Core;
 using DotRecast.Recast;
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class JumpLinkBuilder {
 
@@ -24,7 +26,7 @@ public class JumpLinkBuilder {
     }
 
     public List<JumpLink> build(JumpLinkBuilderConfig acfg, JumpLinkType type) {
-        List<JumpLink> links = new();
+        List<JumpLink> links = new List<JumpLink>();
         for (int tile = 0; tile < results.Count; tile++) {
             Edge[] edges = this.edges[tile];
             foreach (Edge edge in edges) {
@@ -44,7 +46,7 @@ public class JumpLinkBuilder {
 
 
     private List<JumpLink> buildJumpLinks(JumpLinkBuilderConfig acfg, EdgeSampler es, JumpSegment[] jumpSegments) {
-        List<JumpLink> links = new();
+        List<JumpLink> links = new List<JumpLink>();
         foreach (JumpSegment js in jumpSegments) {
             float[] sp = es.start.gsamples[js.startSample].p;
             float[] sq = es.start.gsamples[js.startSample + js.samples - 1].p;
@@ -82,3 +84,5 @@ public class JumpLinkBuilder {
     }
 
 }
+
+}

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

@@ -1,4 +1,6 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class JumpLinkBuilderConfig {
 
@@ -31,3 +33,5 @@ public class JumpLinkBuilderConfig {
     }
 
 }
+
+}

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

@@ -1,5 +1,8 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public enum JumpLinkType {
     EDGE_JUMP, EDGE_CLIMB_DOWN, EDGE_JUMP_OVER
+}
 }

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

@@ -1,7 +1,11 @@
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class JumpSegment {
     public int groundSegment;
     public int startSample;
     public int samples;
 }
+
+}

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

@@ -3,7 +3,9 @@ using System.Collections.Generic;
 
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 class JumpSegmentBuilder {
 
@@ -93,3 +95,5 @@ class JumpSegmentBuilder {
     }
 
 }
+
+}

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

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class JumpTrajectory : Trajectory {
 
@@ -39,3 +41,5 @@ public class JumpTrajectory : Trajectory {
     }
 
 }
+
+}

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

@@ -2,7 +2,9 @@ using System;
 using DotRecast.Core;
 using DotRecast.Recast;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 class NavMeshGroundSampler : AbstractGroundSampler {
 
@@ -89,3 +91,5 @@ class NavMeshGroundSampler : AbstractGroundSampler {
     }
 
 }
+
+}

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

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 public class Trajectory {
 
@@ -14,3 +16,5 @@ public class Trajectory {
     }
 
 }
+
+}

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

@@ -2,7 +2,9 @@ using System;
 using DotRecast.Recast;
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.Extras.Jumplink;
+namespace DotRecast.Detour.Extras.Jumplink
+{
+
 
 class TrajectorySampler {
 
@@ -74,3 +76,5 @@ class TrajectorySampler {
     }
 
 }
+
+}

src/DotRecast.Detour.Extras/ObjExporter.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System.IO;
 
-namespace DotRecast.Detour.Extras;
+namespace DotRecast.Detour.Extras
+{
+
 
 public class ObjExporter {
 
@@ -62,3 +64,5 @@ public class ObjExporter {
 
      */
 }
+
+}

src/DotRecast.Detour.Extras/PolyUtils.cs

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras;
+namespace DotRecast.Detour.Extras
+{
+
 
 public class PolyUtils {
 
@@ -78,3 +80,5 @@ public class PolyUtils {
         return edge;
     }
 }
+
+}

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

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class BVTreeCreator {
 
@@ -28,3 +30,5 @@ public class BVTreeCreator {
     }
 
 }
+
+}

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

@@ -20,12 +20,14 @@ using System.Collections.Generic;
 using System.IO.Compression;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 class GraphConnectionReader : ZipBinaryReader {
 
     public List<int[]> read(ZipArchive file, string filename, Meta meta, int[] indexToNode) {
-        List<int[]> connections = new();
+        List<int[]> connections = new List<int[]>();
         ByteBuffer buffer = toByteBuffer(file, filename);
         while (buffer.remaining() > 0) {
             int count = buffer.getInt();
@@ -45,3 +47,5 @@ class GraphConnectionReader : ZipBinaryReader {
     }
 
 }
+
+}

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

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 
 
@@ -42,3 +44,5 @@ public class GraphData {
     }
 
 }
+
+}

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

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class GraphMeshData {
 
@@ -60,3 +62,5 @@ public class GraphMeshData {
     }
 
 }
+
+}

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

@@ -21,7 +21,9 @@ using System.IO.Compression;
 using System.Numerics;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class GraphMeshDataReader : ZipBinaryReader {
 
@@ -137,10 +139,20 @@ public class GraphMeshDataReader : ZipBinaryReader {
         return new GraphMeshData(tileXCount, tileZCount, tiles);
     }
 
+    public static int highestOneBit(uint i)
+    {
+        i |= (i >>  1);
+        i |= (i >>  2);
+        i |= (i >>  4);
+        i |= (i >>  8);
+        i |= (i >>  16);
+        return (int)(i - (i >> 1));
+    }
+    
     // See NavmeshBase.cs: ASTAR_RECAST_LARGER_TILES
     private int getVertMask(int vertsCount)
     {
-        int vertMask = 1 << (BitOperations.Log2((uint)vertsCount) + 1);
+        int vertMask = 1 << highestOneBit((uint)vertsCount);
         if (vertMask != vertsCount) {
             vertMask *= 2;
         }
@@ -149,3 +161,5 @@ public class GraphMeshDataReader : ZipBinaryReader {
     }
 
 }
+
+}

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

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 
 
@@ -37,3 +39,5 @@ public class GraphMeta {
     public Vector3f forcedBoundsCenter { get; set; }
     public Vector3f forcedBoundsSize { get; set; }
 }
+
+}

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

@@ -20,7 +20,9 @@ using System.IO;
 using System.IO.Compression;
 using System.Text.Json;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class GraphMetaReader {
 
@@ -36,3 +38,5 @@ public class GraphMetaReader {
         return JsonSerializer.Deserialize<GraphMeta>(json, options);
     }
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class LinkBuilder {
 
@@ -64,3 +66,5 @@ public class LinkBuilder {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Text.RegularExpressions;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class Meta {
 
@@ -71,3 +73,5 @@ public class Meta {
     }
 
 }
+
+}

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

@@ -23,7 +23,9 @@ using System.Text.Json;
 using System.Text.Json.Nodes;
 using System.Text.RegularExpressions;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class MetaReader {
 
@@ -52,3 +54,5 @@ public class MetaReader {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.IO.Compression;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 class NodeIndexReader : ZipBinaryReader {
 
@@ -36,3 +38,5 @@ class NodeIndexReader : ZipBinaryReader {
     }
 
 }
+
+}

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

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class NodeLink2 {
     public readonly long linkID;
@@ -33,3 +35,5 @@ public class NodeLink2 {
     }
 
 }
+
+}

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

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.IO.Compression;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class NodeLink2Reader : ZipBinaryReader {
 
@@ -47,3 +49,5 @@ public class NodeLink2Reader : ZipBinaryReader {
         return links;
     }
 }
+
+}

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

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class OffMeshLinkCreator {
 
@@ -61,3 +63,5 @@ public class OffMeshLinkCreator {
         }
     }
 }
+
+}

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

@@ -20,7 +20,9 @@ using System;
 using System.Collections.Generic;
 using System.IO;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 /**
  * Import navmeshes created with A* Pathfinding Project Unity plugin (https://arongranberg.com/astar/). Graph data is
@@ -73,3 +75,5 @@ public class UnityAStarPathfindingImporter {
     }
 
 }
+
+}

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

@@ -20,7 +20,9 @@ using System.Collections.Generic;
 using System.IO;
 using System.IO.Compression;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public class UnityAStarPathfindingReader {
 
@@ -47,9 +49,9 @@ public class UnityAStarPathfindingReader {
         // Read NodeLink2 data (off-mesh links)
         NodeLink2[] nodeLinks2 = nodeLink2Reader.read(file, NODE_LINK_2_FILE_NAME, indexToNode);
         // Read graph by graph
-        List<GraphMeta> metaList = new();
-        List<GraphMeshData> meshDataList = new();
-        List<List<int[]>> connectionsList = new();
+        List<GraphMeta> metaList = new List<GraphMeta>();
+        List<GraphMeshData> meshDataList = new List<GraphMeshData>();
+        List<List<int[]>> connectionsList = new List<List<int[]>>();
         for (int graphIndex = 0; graphIndex < meta.graphs; graphIndex++) {
             GraphMeta graphMeta = graphMetaReader.read(file, string.Format(GRAPH_META_FILE_NAME_PATTERN, graphIndex));
             // First graph mesh data - vertices and polygons
@@ -65,3 +67,5 @@ public class UnityAStarPathfindingReader {
         return new GraphData(meta, indexToNode, nodeLinks2, metaList, meshDataList, connectionsList);
     }
 }
+
+}

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

@@ -21,7 +21,9 @@ using System.IO.Compression;
 using DotRecast.Core;
 using DotRecast.Detour.Io;
 
-namespace DotRecast.Detour.Extras.Unity.Astar;
+namespace DotRecast.Detour.Extras.Unity.Astar
+{
+
 
 public abstract class ZipBinaryReader {
 
@@ -35,3 +37,5 @@ public abstract class ZipBinaryReader {
     }
 
 }
+
+}

src/DotRecast.Detour.Extras/Vector3f.cs

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Extras;
+namespace DotRecast.Detour.Extras
+{
+
 
 public class Vector3f {
 
@@ -33,3 +35,5 @@ public class Vector3f {
     }
 
 }
+
+}

src/DotRecast.Detour.TileCache/AbstractTileLayersBuilder.cs

@@ -25,7 +25,9 @@ using System.Linq;
 using System.Threading.Tasks;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public abstract class AbstractTileLayersBuilder {
 
@@ -37,7 +39,7 @@ public abstract class AbstractTileLayersBuilder {
     }
 
     private List<byte[]> buildSingleThread(ByteOrder order, bool cCompatibility, int tw, int th) {
-        List<byte[]> layers = new();
+        List<byte[]> layers = new List<byte[]>();
         for (int y = 0; y < th; ++y) {
             for (int x = 0; x < tw; ++x) {
                 layers.AddRange(build(x, y, order, cCompatibility));
@@ -64,7 +66,7 @@ public abstract class AbstractTileLayersBuilder {
             .Select(x => x.Result)
             .ToDictionary(x => Tuple.Create(x.Item1, x.Item2), x => x.Item3);
         
-        List<byte[]> layers = new();
+        List<byte[]> layers = new List<byte[]>();
         for (int y = 0; y < th; ++y) {
             for (int x = 0; x < tw; ++x) {
                 var key = Tuple.Create(x, y);
@@ -76,3 +78,5 @@ public abstract class AbstractTileLayersBuilder {
 
     protected abstract List<byte[]> build(int tx, int ty, ByteOrder order, bool cCompatibility);
 }
+
+}

src/DotRecast.Detour.TileCache/CompressedTile.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class CompressedTile {
     public readonly int index;
@@ -33,3 +35,5 @@ public class CompressedTile {
         salt = 1;
     }
 }
+
+}

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

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
+    <TargetFramework>netstandard2.1</TargetFramework>
     
   </PropertyGroup>
 

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

@@ -16,7 +16,9 @@
 
 using System;
 
-namespace DotRecast.Detour.TileCache.Io.Compress;
+namespace DotRecast.Detour.TileCache.Io.Compress
+{
+
 
 /**
  * Core of FastLZ compression algorithm.
@@ -311,10 +313,10 @@ public class FastLz {
             if (level == LEVEL_2) {
                 if (distance < MAX_DISTANCE) {
                     if (len < 7) {
-                        output[outOffset + op++] = (byte) ((len << 5) + (distance >>> 8));
+                        output[outOffset + op++] = (byte) ((len << 5) + (int)((ulong)distance >> 8));
                         output[outOffset + op++] = (byte) (distance & 255);
                     } else {
-                        output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8));
+                        output[outOffset + op++] = (byte) ((7 << 5) + ((ulong)distance >> 8));
                         for (len -= 7; len >= 255; len -= 255) {
                             output[outOffset + op++] = (byte) 255;
                         }
@@ -327,7 +329,7 @@ public class FastLz {
                         distance -= MAX_DISTANCE;
                         output[outOffset + op++] = (byte) ((len << 5) + 31);
                         output[outOffset + op++] = (byte) 255;
-                        output[outOffset + op++] = (byte) (distance >>> 8);
+                        output[outOffset + op++] = (byte) ((ulong)distance >> 8);
                         output[outOffset + op++] = (byte) (distance & 255);
                     } else {
                         distance -= MAX_DISTANCE;
@@ -337,14 +339,14 @@ public class FastLz {
                         }
                         output[outOffset + op++] = (byte) len;
                         output[outOffset + op++] = (byte) 255;
-                        output[outOffset + op++] = (byte) (distance >>> 8);
+                        output[outOffset + op++] = (byte) ((ulong)distance >> 8);
                         output[outOffset + op++] = (byte) (distance & 255);
                     }
                 }
             } else {
                 if (len > MAX_LEN - 2) {
                     while (len > MAX_LEN - 2) {
-                        output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8));
+                        output[outOffset + op++] = (byte) ((7 << 5) + ((ulong)distance >> 8));
                         output[outOffset + op++] = (byte) (MAX_LEN - 2 - 7 - 2);
                         output[outOffset + op++] = (byte) (distance & 255);
                         len -= MAX_LEN - 2;
@@ -352,10 +354,10 @@ public class FastLz {
                 }
 
                 if (len < 7) {
-                    output[outOffset + op++] = (byte) ((len << 5) + (distance >>> 8));
+                    output[outOffset + op++] = (byte) ((len << 5) + (int)((ulong)distance >> 8));
                     output[outOffset + op++] = (byte) (distance & 255);
                 } else {
-                    output[outOffset + op++] = (byte) ((7 << 5) + (distance >>> 8));
+                    output[outOffset + op++] = (byte) ((7 << 5) + (int)((ulong)distance >> 8));
                     output[outOffset + op++] = (byte) (len - 7);
                     output[outOffset + op++] = (byte) (distance & 255);
                 }
@@ -573,4 +575,5 @@ public class FastLz {
     }
 
     private FastLz() { }
+}
 }

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

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using DotRecast.Core;
 using K4os.Compression.LZ4;
 
-namespace DotRecast.Detour.TileCache.Io.Compress;
+namespace DotRecast.Detour.TileCache.Io.Compress
+{
+
 
 public class FastLzTileCacheCompressor : TileCacheCompressor {
 
@@ -38,3 +40,5 @@ public class FastLzTileCacheCompressor : TileCacheCompressor {
     }
 
 }
+
+}

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

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using K4os.Compression.LZ4;
 
-namespace DotRecast.Detour.TileCache.Io.Compress;
+namespace DotRecast.Detour.TileCache.Io.Compress
+{
+
 
 public class LZ4TileCacheCompressor : TileCacheCompressor {
 
@@ -33,3 +35,5 @@ public class LZ4TileCacheCompressor : TileCacheCompressor {
     }
 
 }
+
+}

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

@@ -17,13 +17,21 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache.Io.Compress;
+namespace DotRecast.Detour.TileCache.Io.Compress
+{
+
 
 
 
 public class TileCacheCompressorFactory {
 
-    public static TileCacheCompressor get(bool cCompatibility) {
-        return cCompatibility ? new FastLzTileCacheCompressor() : new LZ4TileCacheCompressor();
+    public static TileCacheCompressor get(bool cCompatibility)
+    {
+        if (cCompatibility)
+            return new FastLzTileCacheCompressor();
+        
+        return new LZ4TileCacheCompressor();
     }
 }
+
+}

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

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.TileCache.Io;
+namespace DotRecast.Detour.TileCache.Io
+{
+
 
 public class TileCacheLayerHeaderReader {
 
@@ -59,3 +61,5 @@ public class TileCacheLayerHeaderReader {
     }
 
 }
+
+}

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

@@ -22,7 +22,9 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Detour.Io;
 
-namespace DotRecast.Detour.TileCache.Io;
+namespace DotRecast.Detour.TileCache.Io
+{
+
 
 public class TileCacheLayerHeaderWriter : DetourWriter {
 
@@ -52,3 +54,5 @@ public class TileCacheLayerHeaderWriter : DetourWriter {
     }
 
 }
+
+}

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

@@ -23,7 +23,9 @@ using DotRecast.Core;
 using DotRecast.Detour.Io;
 using DotRecast.Detour.TileCache.Io.Compress;
 
-namespace DotRecast.Detour.TileCache.Io;
+namespace DotRecast.Detour.TileCache.Io
+{
+
 
 public class TileCacheReader {
 
@@ -93,3 +95,5 @@ public class TileCacheReader {
         return option;
     }
 }
+
+}

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

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache.Io;
+namespace DotRecast.Detour.TileCache.Io
+{
+
 
 public class TileCacheSetHeader {
 
@@ -32,3 +34,5 @@ public class TileCacheSetHeader {
     public TileCacheParams cacheParams = new TileCacheParams();
 
 }
+
+}

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

@@ -22,7 +22,9 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Detour.Io;
 
-namespace DotRecast.Detour.TileCache.Io;
+namespace DotRecast.Detour.TileCache.Io
+{
+
 
 public class TileCacheWriter : DetourWriter {
 
@@ -73,3 +75,5 @@ public class TileCacheWriter : DetourWriter {
     }
 
 }
+
+}

src/DotRecast.Detour.TileCache/ObstacleRequest.cs

@@ -17,9 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class ObstacleRequest {
     public ObstacleRequestAction action;
     public long refs;
 }
+
+}

src/DotRecast.Detour.TileCache/ObstacleRequestAction.cs

@@ -17,8 +17,12 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public enum ObstacleRequestAction {
     REQUEST_ADD, REQUEST_REMOVE
 }
+
+}

src/DotRecast.Detour.TileCache/ObstacleState.cs

@@ -17,9 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public enum ObstacleState {
 
     DT_OBSTACLE_EMPTY, DT_OBSTACLE_PROCESSING, DT_OBSTACLE_PROCESSED, DT_OBSTACLE_REMOVING
 }
+
+}

src/DotRecast.Detour.TileCache/TileCache.cs

@@ -25,7 +25,9 @@ using DotRecast.Detour.TileCache.Io;
 
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCache {
 
@@ -46,11 +48,11 @@ public class TileCache {
     private readonly TileCacheCompressor m_tcomp;
     private readonly TileCacheMeshProcess m_tmproc;
 
-    private readonly List<TileCacheObstacle> m_obstacles = new();
+    private readonly List<TileCacheObstacle> m_obstacles = new List<TileCacheObstacle>();
     private TileCacheObstacle m_nextFreeObstacle;
 
-    private readonly List<ObstacleRequest> m_reqs = new();
-    private readonly List<long> m_update = new();
+    private readonly List<ObstacleRequest> m_reqs = new List<ObstacleRequest>();
+    private readonly List<long> m_update = new List<long>();
 
     private readonly TileCacheBuilder builder = new TileCacheBuilder();
     private readonly TileCacheLayerHeaderReader tileReader = new TileCacheLayerHeaderReader();
@@ -137,7 +139,7 @@ public class TileCache {
     }
 
     public List<long> getTilesAt(int tx, int ty) {
-        List<long> tiles = new();
+        List<long> tiles = new List<long>();
 
         // Find tile based on hash.
         int h = NavMesh.computeTileHash(tx, ty, m_tileLutMask);
@@ -357,7 +359,7 @@ public class TileCache {
     }
 
     List<long> queryTiles(float[] bmin, float[] bmax) {
-        List<long> results = new();
+        List<long> results = new List<long>();
         float tw = m_params.width * m_params.cs;
         float th = m_params.height * m_params.cs;
         int tx0 = (int) Math.Floor((bmin[0] - m_params.orig[0]) / tw);
@@ -603,3 +605,5 @@ public class TileCache {
         return m_navmesh;
     }
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheBuilder.cs

@@ -26,7 +26,9 @@ using DotRecast.Detour.TileCache.Io;
 using DotRecast.Detour.TileCache.Io.Compress;
 using static DotRecast.Detour.DetourCommon;
 
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheBuilder {
 
@@ -42,7 +44,7 @@ public class TileCacheBuilder {
 
     public class LayerMonotoneRegion {
         public int area;
-        public List<int> neis = new(16);
+        public List<int> neis = new List<int>(16);
         public int regId;
         public int areaId;
     };
@@ -53,9 +55,9 @@ public class TileCacheBuilder {
         public List<int> poly;
 
         public TempContour() {
-            verts = new();
+            verts = new List<int>();
             nverts = 0;
-            poly = new();
+            poly = new List<int>();
         }
 
         public int npoly() {
@@ -1195,7 +1197,7 @@ public class TileCacheBuilder {
             return false;
 
         // Find edges which share the removed vertex.
-        List<int> edges = new();
+        List<int> edges = new List<int>();
         int nedges = 0;
 
         for (int i = 0; i < mesh.npolys; ++i) {
@@ -1262,10 +1264,10 @@ public class TileCacheBuilder {
         }
 
         int nedges = 0;
-        List<int> edges = new();
+        List<int> edges = new List<int>();
         int nhole = 0;
-        List<int> hole = new();
-        List<int> harea = new();
+        List<int> hole = new List<int>();
+        List<int> harea = new List<int>();
 
         for (int i = 0; i < mesh.npolys; ++i) {
             int p = i * maxVertsPerPoly * 2;
@@ -1841,3 +1843,5 @@ public class TileCacheBuilder {
     }
 
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheCompressor.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public interface TileCacheCompressor {
 
@@ -25,3 +27,5 @@ public interface TileCacheCompressor {
 
     byte[] compress(byte[] buf);
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheContour.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheContour {
     public int nverts;
@@ -25,3 +27,5 @@ public class TileCacheContour {
     public int reg;
     public int area;
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheContourSet.cs

@@ -17,9 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheContourSet {
     public int nconts;
     public TileCacheContour[] conts;
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheLayer.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheLayer {
     public TileCacheLayerHeader header;
@@ -27,3 +29,5 @@ public class TileCacheLayer {
     public short[] cons; // char
     public short[] regs; // char
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheLayerHeader.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheLayerHeader {
 
@@ -34,3 +36,5 @@ public class TileCacheLayerHeader {
     public int minx, maxx, miny, maxy; /// < Usable sub-region.
 
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheMeshProcess.cs

@@ -17,9 +17,13 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public interface TileCacheMeshProcess {
 
     void process(NavMeshDataCreateParams option);
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheObstacle.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheObstacle {
 
@@ -37,8 +39,8 @@ public class TileCacheObstacle {
     public readonly float[] center = new float[3];
     public readonly float[] extents = new float[3];
     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 List<long> touched = new();
-    public readonly List<long> pending = new();
+    public List<long> touched = new List<long>();
+    public readonly List<long> pending = new List<long>();
     public int salt;
     public ObstacleState state = ObstacleState.DT_OBSTACLE_EMPTY;
     public TileCacheObstacle next;
@@ -49,3 +51,5 @@ public class TileCacheObstacle {
     }
 
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheParams.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheParams {
     public readonly float[] orig = new float[3];
@@ -31,3 +33,5 @@ public class TileCacheParams {
     public int maxObstacles;
 
 }
+
+}

src/DotRecast.Detour.TileCache/TileCachePolyMesh.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCachePolyMesh {
     public int nvp;
@@ -32,3 +34,5 @@ public class TileCachePolyMesh {
         this.nvp = nvp;
     }
 }
+
+}

src/DotRecast.Detour.TileCache/TileCacheStorageParams.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using DotRecast.Core;
 
-namespace DotRecast.Detour.TileCache;
+namespace DotRecast.Detour.TileCache
+{
+
 
 public class TileCacheStorageParams {
 
@@ -33,3 +35,5 @@ public class TileCacheStorageParams {
     }
 
 }
+
+}

src/DotRecast.Detour/BVNode.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Bounding volume node.
@@ -33,3 +35,5 @@ public class BVNode {
     /** The node's index. (Negative for escape sequence.) */
     public int i;
 }
+
+}

src/DotRecast.Detour/ClosestPointOnPolyResult.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class ClosestPointOnPolyResult {
 
@@ -40,3 +42,5 @@ public class ClosestPointOnPolyResult {
     }
 
 }
+
+}

src/DotRecast.Detour/ConvexConvexIntersection.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -235,3 +237,5 @@ public static class ConvexConvexIntersection {
         }
     }
 }
+
+}

src/DotRecast.Detour/DefaultQueryFilter.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -100,3 +102,5 @@ public class DefaultQueryFilter : QueryFilter {
     }
 
 }
+
+}

src/DotRecast.Detour/DefaultQueryHeuristic.cs

@@ -16,7 +16,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -37,3 +39,5 @@ public class DefaultQueryHeuristic : QueryHeuristic {
     }
 
 }
+
+}

src/DotRecast.Detour/DetourBuilder.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class DetourBuilder {
 
@@ -30,3 +32,5 @@ public class DetourBuilder {
         return data;
     }
 }
+
+}

src/DotRecast.Detour/DetourCommon.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public static class DetourCommon {
 
@@ -635,3 +637,5 @@ public static class DetourCommon {
     }
 
 }
+
+}

src/DotRecast.Detour/DotRecast.Detour.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
+    <TargetFramework>netstandard2.1</TargetFramework>
     
   </PropertyGroup>
 

src/DotRecast.Detour/FindDistanceToWallResult.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 //TODO: (PP) Add comments
 public class FindDistanceToWallResult {
@@ -43,4 +45,5 @@ public class FindDistanceToWallResult {
         return normal;
     }
 
+}
 }

src/DotRecast.Detour/FindLocalNeighbourhoodResult.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 //TODO: (PP) Add comments
 public class FindLocalNeighbourhoodResult {
@@ -40,4 +42,5 @@ public class FindLocalNeighbourhoodResult {
         return parentRefs;
     }
 
+}
 }

src/DotRecast.Detour/FindNearestPolyQuery.cs

@@ -1,6 +1,8 @@
 using System;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -51,3 +53,5 @@ public class FindNearestPolyQuery : PolyQuery {
     }
 
 }
+
+}

src/DotRecast.Detour/FindNearestPolyResult.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class FindNearestPolyResult {
     private readonly long nearestRef;
@@ -45,3 +47,5 @@ public class FindNearestPolyResult {
     }
 
 }
+
+}

src/DotRecast.Detour/FindPolysAroundResult.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 // TODO: (PP) Add comments
@@ -47,4 +49,5 @@ public class FindPolysAroundResult {
         return costs;
     }
 
+}
 }

src/DotRecast.Detour/FindRandomPointResult.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 //TODO: (PP) Add comments
 public class FindRandomPointResult {
@@ -39,4 +41,5 @@ public class FindRandomPointResult {
         return randomPt;
     }
 
+}
 }

src/DotRecast.Detour/GetPolyWallSegmentsResult.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 public class GetPolyWallSegmentsResult {
@@ -42,3 +44,5 @@ public class GetPolyWallSegmentsResult {
     }
 
 }
+
+}

src/DotRecast.Detour/Io/DetourWriter.cs

@@ -20,7 +20,9 @@ using System;
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public abstract class DetourWriter {
 
@@ -42,11 +44,11 @@ public abstract class DetourWriter {
 
     protected void write(BinaryWriter stream, long value, ByteOrder order)  {
         if (order == ByteOrder.BIG_ENDIAN) {
-            write(stream, (int) (value >>> 32), order);
+            write(stream, (int) ((ulong)value >> 32), order);
             write(stream, (int) (value & 0xFFFFFFFF), order);
         } else {
             write(stream, (int) (value & 0xFFFFFFFF), order);
-            write(stream, (int) (value >>> 32), order);
+            write(stream, (int) ((ulong)value >> 32), order);
         }
     }
 
@@ -80,3 +82,5 @@ public abstract class DetourWriter {
     }
 
 }
+
+}

src/DotRecast.Detour/Io/IOUtils.cs

@@ -20,7 +20,9 @@ using System;
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public static class IOUtils {
 
@@ -51,8 +53,11 @@ public static class IOUtils {
 		return new ByteBuffer(bytes);
 	}
 
-	public static int swapEndianness(int i) {
-		var s = ((i >>> 24) & 0xFF) | ((i>>8) & 0xFF00) | ((i<<8) & 0xFF0000) | ((i << 24) & 0xFF000000);
+	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;
 	}
 }
+
+}

src/DotRecast.Detour/Io/MeshDataReader.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class MeshDataReader {
 
@@ -199,3 +201,5 @@ public class MeshDataReader {
     }
 
 }
+
+}

src/DotRecast.Detour/Io/MeshDataWriter.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class MeshDataWriter : DetourWriter {
 
@@ -140,3 +142,5 @@ public class MeshDataWriter : DetourWriter {
     }
 
 }
+
+}

src/DotRecast.Detour/Io/MeshSetReader.cs

@@ -20,7 +20,9 @@ using System;
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 using static DetourCommon;
 
@@ -125,3 +127,5 @@ public class MeshSetReader {
         return NavMesh.encodePolyId(salt, it, ip);
     }
 }
+
+}

src/DotRecast.Detour/Io/MeshSetWriter.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class MeshSetWriter : DetourWriter {
 
@@ -76,3 +78,5 @@ public class MeshSetWriter : DetourWriter {
     }
 
 }
+
+}

src/DotRecast.Detour/Io/NavMeshParamReader.cs

@@ -1,6 +1,8 @@
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class NavMeshParamReader {
 
@@ -17,3 +19,5 @@ public class NavMeshParamReader {
 	}
 
 }
+
+}

src/DotRecast.Detour/Io/NavMeshParamWriter.cs

@@ -1,7 +1,9 @@
 using System.IO;
 using DotRecast.Core;
 
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class NavMeshParamWriter : DetourWriter {
 
@@ -16,3 +18,5 @@ public class NavMeshParamWriter : DetourWriter {
 	}
 
 }
+
+}

src/DotRecast.Detour/Io/NavMeshSetHeader.cs

@@ -15,7 +15,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class NavMeshSetHeader {
 
@@ -31,3 +33,5 @@ public class NavMeshSetHeader {
     public int maxVertsPerPoly;
 
 }
+
+}

src/DotRecast.Detour/Io/NavMeshTileHeader.cs

@@ -1,6 +1,10 @@
-namespace DotRecast.Detour.Io;
+namespace DotRecast.Detour.Io
+{
+
 
 public class NavMeshTileHeader {
 	public long tileRef;
 	public int dataSize;
 }
+
+}

src/DotRecast.Detour/LegacyNavMeshQuery.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -45,7 +47,7 @@ public class LegacyNavMeshQuery : NavMeshQuery {
         }
 
         if (startRef == endRef) {
-            List<long> singlePath = new(1);
+            List<long> singlePath = new List<long>(1);
             singlePath.Add(startRef);
             return Results.success(singlePath);
         }
@@ -412,7 +414,7 @@ public class LegacyNavMeshQuery : NavMeshQuery {
     /// @returns The status flags for the query.
     public override Result<List<long>> finalizeSlicedFindPath() {
 
-        List<long> path = new(64);
+        List<long> path = new List<long>(64);
         if (m_query.status.isFailed()) {
             // Reset query.
             m_query = new QueryData();
@@ -480,7 +482,7 @@ public class LegacyNavMeshQuery : NavMeshQuery {
     /// @returns The status flags for the query.
     public override Result<List<long>> finalizeSlicedFindPathPartial(List<long> existing) {
 
-        List<long> path = new(64);
+        List<long> path = new List<long>(64);
         if (null == existing || existing.Count <= 0) {
             return Results.failure(path);
         }
@@ -728,3 +730,5 @@ public class LegacyNavMeshQuery : NavMeshQuery {
         return Results.success(new FindDistanceToWallResult((float) Math.Sqrt(radiusSqr), hitPos, hitNormal));
     }
 }
+
+}

src/DotRecast.Detour/Link.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Defines a link between polygons.
@@ -40,3 +42,5 @@ public class Link {
     public int bmax;
 
 }
+
+}

src/DotRecast.Detour/MeshData.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class MeshData {
 
@@ -43,4 +45,5 @@ public class MeshData {
     /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
     public OffMeshConnection[] offMeshCons;
 
+}
 }

src/DotRecast.Detour/MeshHeader.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /** Provides high level information related to a dtMeshTile object. */
 public class MeshHeader {
@@ -77,3 +79,5 @@ public class MeshHeader {
     /** The bounding volume quantization factor. */
     public float bvQuantFactor;
 }
+
+}

src/DotRecast.Detour/MeshTile.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Defines a navigation mesh tile.
@@ -33,7 +35,7 @@ public class MeshTile {
     public MeshData data;
     public int[] polyLinks;
     /** The tile links. */
-    public readonly List<Link> links = new();
+    public readonly List<Link> links = new List<Link>();
     /** Index to the next free link. */
     public int linksFreeList = NavMesh.DT_NULL_LINK; // FIXME: Remove
     /** Tile flags. (See: #dtTileFlags) */
@@ -44,3 +46,5 @@ public class MeshTile {
     }
 
 }
+
+}

src/DotRecast.Detour/MoveAlongSurfaceResult.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 public class MoveAlongSurfaceResult {
@@ -44,3 +46,5 @@ public class MoveAlongSurfaceResult {
     }
 
 }
+
+}

src/DotRecast.Detour/NavMesh.cs

@@ -23,7 +23,9 @@ using System.Collections.Generic;
 using System.Collections.Immutable;
 using DotRecast.Core;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -58,8 +60,8 @@ public class NavMesh {
     float m_tileWidth, 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<MeshTile>> posLookup = new();
-    private readonly LinkedList<MeshTile> availableTiles = new();
+    private readonly Dictionary<int, List<MeshTile>> posLookup = new Dictionary<int, List<MeshTile>>();
+    private readonly LinkedList<MeshTile> availableTiles = new LinkedList<MeshTile>();
     private readonly MeshTile[] m_tiles; /// < List of tiles.
     /** The maximum number of vertices per navigation polygon. */
     private readonly int m_maxVertPerPoly;
@@ -285,7 +287,7 @@ public class NavMesh {
     // for off-mesh connection finding.
 
     List<long> queryPolygonsInTile(MeshTile tile, float[] qmin, float[] qmax) {
-        List<long> polys = new();
+        List<long> polys = new List<long>();
         if (tile.data.bvTree != null) {
             int nodeIndex = 0;
             float[] tbmin = tile.data.header.bmin;
@@ -756,7 +758,7 @@ public class NavMesh {
         if (tile == null) {
             return ImmutableArray<Tuple<long, float, float>>.Empty;
         }
-        List<Tuple<long, float, float>> result = new();
+        List<Tuple<long, float, float>> result = new List<Tuple<long, float, float>>();
         float[] amin = new float[2];
         float[] amax = new float[2];
         calcSlabEndPoints(verts, va, vb, amin, amax, side);
@@ -1195,7 +1197,7 @@ public class NavMesh {
     }
 
     public List<MeshTile> getTilesAt(int x, int y) {
-        List<MeshTile> tiles = new();
+        List<MeshTile> tiles = new List<MeshTile>();
         foreach (MeshTile tile in getTileListByPos(x, y)) {
             if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y) {
                 tiles.Add(tile);
@@ -1418,10 +1420,12 @@ public class NavMesh {
         var tileHash = computeTileHash(x, z, m_tileLutMask);
         if (!posLookup.TryGetValue(tileHash, out var tiles))
         {
-            tiles = new();
+            tiles = new List<MeshTile>();
             posLookup.Add(tileHash, tiles);
         }
 
         return tiles;
     }
 }
+
+}

src/DotRecast.Detour/NavMeshBuilder.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -600,3 +602,5 @@ public class NavMeshBuilder {
     }
 
 }
+
+}

src/DotRecast.Detour/NavMeshDataCreateParams.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /// Represents the source data used to build an navigation mesh tile.
 public class NavMeshDataCreateParams {
@@ -99,4 +101,5 @@ public class NavMeshDataCreateParams {
 
     /// @}
 
+}
 }

src/DotRecast.Detour/NavMeshParams.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during
@@ -37,3 +39,5 @@ public class NavMeshParams {
     /** The maximum number of polygons each tile can contain. */
     public int maxPolys;
 }
+
+}

src/DotRecast.Detour/NavMeshQuery.cs

@@ -22,7 +22,9 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 using static Node;
@@ -636,7 +638,7 @@ public class NavMeshQuery {
         int[] maxxy = m_nav.calcTileLoc(bmax);
         int maxx = maxxy[0];
         int maxy = maxxy[1];
-        List<MeshTile> tiles = new();
+        List<MeshTile> tiles = new List<MeshTile>();
         for (int y = miny; y <= maxy; ++y) {
             for (int x = minx; x <= maxx; ++x) {
                 tiles.AddRange(m_nav.getTilesAt(x, y));
@@ -694,7 +696,7 @@ public class NavMeshQuery {
         }
 
         if (startRef == endRef) {
-            List<long> singlePath = new(1);
+            List<long> singlePath = new List<long>(1);
             singlePath.Add(startRef);
             return Results.success(singlePath);
         }
@@ -1181,7 +1183,7 @@ public class NavMeshQuery {
     /// @returns The status flags for the query.
     public virtual Result<List<long>> finalizeSlicedFindPath() {
 
-        List<long> path = new(64);
+        List<long> path = new List<long>(64);
         if (m_query.status.isFailed()) {
             // Reset query.
             m_query = new QueryData();
@@ -1215,7 +1217,7 @@ public class NavMeshQuery {
     /// @returns The status flags for the query.
     public virtual Result<List<long>> finalizeSlicedFindPathPartial(List<long> existing) {
 
-        List<long> path = new(64);
+        List<long> path = new List<long>(64);
         if (null == existing || existing.Count <= 0) {
             return Results.failure(path);
         }
@@ -1350,7 +1352,7 @@ public class NavMeshQuery {
     public virtual Result<List<StraightPathItem>> findStraightPath(float[] startPos, float[] endPos, List<long> path,
             int maxStraightPath, int options) {
 
-        List<StraightPathItem> straightPath = new();
+        List<StraightPathItem> straightPath = new List<StraightPathItem>();
         if (null == startPos || !vIsFinite(startPos) || null == endPos || !vIsFinite(endPos)
                 || null == path || 0 == path.Count || path[0] == 0 || maxStraightPath <= 0) {
             return Results.invalidParam<List<StraightPathItem>>();
@@ -1578,7 +1580,7 @@ public class NavMeshQuery {
         startNode.total = 0;
         startNode.id = startRef;
         startNode.flags = Node.DT_NODE_CLOSED;
-        LinkedList<Node> stack = new();
+        LinkedList<Node> stack = new LinkedList<Node>();
         stack.AddLast(startNode);
 
         float[] bestPos = new float[3];
@@ -1690,7 +1692,7 @@ public class NavMeshQuery {
             }
         }
 
-        List<long> visited = new();
+        List<long> visited = new List<long>();
         if (bestNode != null) {
             // Reverse the path.
             Node prev = null;
@@ -2157,9 +2159,9 @@ public class NavMeshQuery {
             return Results.invalidParam<FindPolysAroundResult>();
         }
 
-        List<long> resultRef = new();
-        List<long> resultParent = new();
-        List<float> resultCost = new();
+        List<long> resultRef = new List<long>();
+        List<long> resultParent = new List<long>();
+        List<float> resultCost = new List<float>();
 
         m_nodePool.clear();
         m_openList.clear();
@@ -2316,9 +2318,9 @@ public class NavMeshQuery {
             return Results.invalidParam<FindPolysAroundResult>();
         }
 
-        List<long> resultRef = new();
-        List<long> resultParent = new();
-        List<float> resultCost = new();
+        List<long> resultRef = new List<long>();
+        List<long> resultParent = new List<long>();
+        List<float> resultCost = new List<float>();
 
         m_nodePool.clear();
         m_openList.clear();
@@ -2488,8 +2490,8 @@ public class NavMeshQuery {
             return Results.invalidParam<FindLocalNeighbourhoodResult>();
         }
 
-        List<long> resultRef = new();
-        List<long> resultParent = new();
+        List<long> resultRef = new List<long>();
+        List<long> resultParent = new List<long>();
 
         NodePool tinyNodePool = new NodePool();
 
@@ -2497,7 +2499,7 @@ public class NavMeshQuery {
         startNode.pidx = 0;
         startNode.id = startRef;
         startNode.flags = Node.DT_NODE_CLOSED;
-        LinkedList<Node> stack = new();
+        LinkedList<Node> stack = new LinkedList<Node>();
         stack.AddLast(startNode);
 
         resultRef.Add(startNode.id);
@@ -2679,9 +2681,9 @@ public class NavMeshQuery {
         MeshTile tile = tileAndPoly.result.Item1;
         Poly poly = tileAndPoly.result.Item2;
 
-        List<long> segmentRefs = new();
-        List<float[]> segmentVerts = new();
-        List<SegInterval> ints = new(16);
+        List<long> segmentRefs = new List<long>();
+        List<float[]> segmentVerts = new List<float[]>();
+        List<SegInterval> ints = new List<SegInterval>(16);
 
         for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++) {
             // Skip non-solid edges.
@@ -3012,7 +3014,7 @@ public class NavMeshQuery {
      * Gets the path leading to the specified end node.
      */
     protected List<long> getPathToNode(Node endNode) {
-        List<long> path = new();
+        List<long> path = new List<long>();
         // Reverse the path.
         Node curNode = endNode;
         do {
@@ -3053,4 +3055,5 @@ public class NavMeshQuery {
         return m_nodePool;
     }
 
+}
 }

src/DotRecast.Detour/Node.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 public class Node {
@@ -60,3 +62,5 @@ public class Node {
     }
 
 }
+
+}

src/DotRecast.Detour/NodePool.cs

@@ -20,14 +20,16 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 public class NodePool
 {
 
-    private readonly Dictionary<long, List<Node>> m_map = new();
-    private readonly List<Node> m_nodes = new();
+    private readonly Dictionary<long, List<Node>> m_map = new Dictionary<long, List<Node>>();
+    private readonly List<Node> m_nodes = new List<Node>();
 
     public NodePool() {
 
@@ -41,7 +43,7 @@ public class NodePool
     public List<Node> findNodes(long id) {
         var hasNode = m_map.TryGetValue(id, out var nodes);;
         if (nodes == null) {
-            nodes = new();
+            nodes = new List<Node>();
         }
         return nodes;
     }
@@ -73,7 +75,7 @@ public class NodePool
         m_nodes.Add(node);
         var hasNode = m_map.TryGetValue(id, out var nodes);;
         if (nodes == null) {
-            nodes = new();
+            nodes = new List<Node>();
             m_map.Add(id, nodes);
         }
         nodes.Add(node);
@@ -97,3 +99,5 @@ public class NodePool
     }
 
 }
+
+}

src/DotRecast.Detour/NodeQueue.cs

@@ -17,13 +17,15 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using System.Collections.Generic;
 
 public class NodeQueue {
     
-    private readonly List<Node> m_heap = new();
+    private readonly List<Node> m_heap = new List<Node>();
 
     public int count()
     {
@@ -61,3 +63,5 @@ public class NodeQueue {
         return 0 == m_heap.Count;
     }
 }
+
+}

src/DotRecast.Detour/OffMeshConnection.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Defines an navigation mesh off-mesh connection within a dtMeshTile object. An off-mesh connection is a user defined
@@ -41,4 +43,5 @@ public class OffMeshConnection {
     public int side;
     /** The id of the offmesh connection. (User assigned when the navigation mesh is built.) */
     public int userId;
+}
 }

src/DotRecast.Detour/Poly.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /** Defines a polygon within a MeshTile object. */
 public class Poly {
@@ -69,3 +71,5 @@ public class Poly {
     }
 
 }
+
+}

src/DotRecast.Detour/PolyDetail.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /** Defines the location of detail sub-mesh data within a dtMeshTile. */
 public class PolyDetail {
@@ -30,3 +32,5 @@ public class PolyDetail {
     /** The number of triangles in the sub-mesh. */
     public int triCount;
 }
+
+}

src/DotRecast.Detour/PolyQuery.cs

@@ -1,6 +1,10 @@
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public interface PolyQuery {
 
     void process(MeshTile tile, Poly poly, long refs);
 }
+
+}

src/DotRecast.Detour/PolygonByCircleConstraint.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -92,3 +94,5 @@ public interface PolygonByCircleConstraint {
         }
     }
 }
+
+}

src/DotRecast.Detour/QueryData.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class QueryData {
     public Status status;
@@ -30,4 +32,5 @@ public class QueryData {
     public int options;
     public float raycastLimitSqr;
     public QueryHeuristic heuristic;
+}
 }

src/DotRecast.Detour/QueryFilter.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public interface QueryFilter {
 
@@ -27,3 +29,5 @@ public interface QueryFilter {
         Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly);
 }
 
+
+}

src/DotRecast.Detour/QueryHeuristic.cs

@@ -16,10 +16,14 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public interface QueryHeuristic {
 
     float getCost(float[] neighbourPos, float[] endPos);
 
 }
+
+}

src/DotRecast.Detour/RaycastHit.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 
 /**
@@ -32,9 +34,11 @@ public class RaycastHit {
     /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */
     public readonly float[] hitNormal = new float[3];
     /** Visited polygons. */
-    public readonly List<long> path = new();
+    public readonly List<long> path = new List<long>();
     /** The cost of the path until hit. */
     public float pathCost;
     /** The index of the edge on the readonly polygon where the wall was hit. */
     public int hitEdgeIndex;
 }
+
+}

src/DotRecast.Detour/Result.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public static class Results
 {
@@ -81,3 +83,5 @@ public class Result<T> {
     }
 
 }
+
+}

src/DotRecast.Detour/Status.cs

@@ -17,14 +17,16 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 public class Status {
-    public static Status FAILURE = new(0);
-    public static Status SUCCSESS = new(1);
-    public static Status IN_PROGRESS = new(2);
-    public static Status PARTIAL_RESULT = new(3);
-    public static Status FAILURE_INVALID_PARAM = new(4);
+    public static Status FAILURE = new Status(0);
+    public static Status SUCCSESS = new Status(1);
+    public static Status IN_PROGRESS = new Status(2);
+    public static Status PARTIAL_RESULT = new Status(3);
+    public static Status FAILURE_INVALID_PARAM = new Status(4);
     
     public int Value { get; }
 
@@ -53,3 +55,5 @@ public static class StatusEx
     }
     
 }
+
+}

src/DotRecast.Detour/StraightPathItem.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 using static DetourCommon;
 
@@ -45,4 +47,5 @@ public class StraightPathItem {
         return refs;
     }
 
+}
 }

src/DotRecast.Detour/VectorPtr.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Detour;
+namespace DotRecast.Detour
+{
+
 
 /**
  * Wrapper for 3-element pieces (3D vectors) of a bigger float array.
@@ -44,4 +46,5 @@ public class VectorPtr
     {
         return array[index + offset];
     }
+}
 }

src/DotRecast.Recast/AreaModification.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class AreaModification
 {
@@ -67,4 +69,5 @@ public class AreaModification
     {
         return ((value & mask) | (area & ~mask));
     }
+}
 }

src/DotRecast.Recast/CompactCell.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Provides information on the content of a cell column in a compact heightfield. */
 public class CompactCell
@@ -28,4 +30,5 @@ public class CompactCell
 
     /** Number of spans in the column. */
     public int count;
+}
 }

src/DotRecast.Recast/CompactHeightfield.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** A compact, static heightfield representing unobstructed space. */
 public class CompactHeightfield
@@ -70,4 +72,5 @@ public class CompactHeightfield
 
     /** Array containing area id data. [Size: #spanCount] */
     public int[] areas;
+}
 }

src/DotRecast.Recast/CompactSpan.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a span of unobstructed space within a compact heightfield. */
 public class CompactSpan
@@ -34,4 +36,5 @@ public class CompactSpan
 
     /** The height of the span. (Measured from #y.) */
     public int h;
+}
 }

src/DotRecast.Recast/Contour.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a simple, non-overlapping contour in field space. */
 public class Contour
@@ -40,4 +42,5 @@ public class Contour
 
     /** The area id of the contour. */
     public int reg;
+}
 }

src/DotRecast.Recast/ContourSet.cs

@@ -20,13 +20,15 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a group of related contours. */
 public class ContourSet
 {
     /** A list of the contours in the set. */
-    public List<Contour> conts = new();
+    public List<Contour> conts = new List<Contour>();
 
     /** The minimum bounds in world space. [(x, y, z)] */
     public float[] bmin = new float[3];
@@ -51,4 +53,5 @@ public class ContourSet
 
     /** The max edge error that this contour set was simplified with. */
     public float maxError;
+}
 }

src/DotRecast.Recast/ConvexVolume.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class ConvexVolume
 {
@@ -26,4 +28,5 @@ public class ConvexVolume
     public float hmin;
     public float hmax;
     public AreaModification areaMod;
+}
 }

src/DotRecast.Recast/DotRecast.Recast.csproj

@@ -1,8 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>net7.0</TargetFramework>
-    
+    <TargetFramework>netstandard2.1</TargetFramework>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Recast/Geom/ChunkyTriMesh.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public class ChunkyTriMesh
 {
@@ -150,7 +152,7 @@ public class ChunkyTriMesh
     {
         int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
 
-        nodes = new(nchunks);
+        nodes = new List<ChunkyTriMeshNode>(nchunks);
         this.ntris = ntris;
 
         // Build tree
@@ -219,7 +221,7 @@ public class ChunkyTriMesh
     public List<ChunkyTriMeshNode> getChunksOverlappingRect(float[] bmin, float[] bmax)
     {
         // Traverse tree
-        List<ChunkyTriMeshNode> ids = new();
+        List<ChunkyTriMeshNode> ids = new List<ChunkyTriMeshNode>();
         int i = 0;
         while (i < nodes.Count)
         {
@@ -244,4 +246,5 @@ public class ChunkyTriMesh
 
         return ids;
     }
+}
 }

src/DotRecast.Recast/Geom/ChunkyTriMeshNode.cs

@@ -1,4 +1,6 @@
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public class ChunkyTriMeshNode
 {
@@ -7,3 +9,5 @@ public class ChunkyTriMeshNode
     public int i;
     public int[] tris;
 }
+
+}

src/DotRecast.Recast/Geom/ConvexVolumeProvider.cs

@@ -18,9 +18,12 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public interface ConvexVolumeProvider
 {
     IList<ConvexVolume> convexVolumes();
+}
 }

src/DotRecast.Recast/Geom/InputGeomProvider.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public interface InputGeomProvider : ConvexVolumeProvider
 {
@@ -29,4 +31,5 @@ public interface InputGeomProvider : ConvexVolumeProvider
     float[] getMeshBoundsMax();
 
     IEnumerable<TriMesh> meshes();
+}
 }

src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs

@@ -22,7 +22,9 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public class SimpleInputGeomProvider : InputGeomProvider
 {
@@ -31,7 +33,7 @@ public class SimpleInputGeomProvider : InputGeomProvider
     public readonly float[] normals;
     readonly float[] bmin;
     readonly float[] bmax;
-    readonly List<ConvexVolume> volumes = new();
+    readonly List<ConvexVolume> volumes = new List<ConvexVolume>();
 
     public SimpleInputGeomProvider(List<float> vertexPositions, List<int> meshFaces)
         : this(mapVertices(vertexPositions), mapFaces(meshFaces))
@@ -102,8 +104,7 @@ public class SimpleInputGeomProvider : InputGeomProvider
         volumes.Add(vol);
     }
 
-    public IEnumerable<TriMesh> meshes()
-    {
+    public IEnumerable<TriMesh> meshes() {
         return ImmutableArray.Create(new TriMesh(vertices, faces));
     }
 
@@ -134,4 +135,5 @@ public class SimpleInputGeomProvider : InputGeomProvider
             }
         }
     }
+}
 }

src/DotRecast.Recast/Geom/SingleTrimeshInputGeomProvider.cs

@@ -16,16 +16,19 @@ 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.Collections.Immutable;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public class SingleTrimeshInputGeomProvider : InputGeomProvider
 {
     private readonly float[] bmin;
     private readonly float[] bmax;
-    private readonly ImmutableArray<TriMesh> _meshes;
+    private readonly TriMesh[] _meshes;
 
     public SingleTrimeshInputGeomProvider(float[] vertices, int[] faces)
     {
@@ -39,7 +42,7 @@ public class SingleTrimeshInputGeomProvider : InputGeomProvider
             RecastVectors.max(bmax, vertices, i * 3);
         }
 
-        _meshes = ImmutableArray.Create(new TriMesh(vertices, faces));
+        _meshes = new[] { new TriMesh(vertices, faces) };
     }
 
     public float[] getMeshBoundsMin()
@@ -61,4 +64,5 @@ public class SingleTrimeshInputGeomProvider : InputGeomProvider
     {
         return ImmutableArray<ConvexVolume>.Empty;
     }
+}
 }

src/DotRecast.Recast/Geom/TriMesh.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 
-namespace DotRecast.Recast.Geom;
+namespace DotRecast.Recast.Geom
+{
+
 
 public class TriMesh
 {
@@ -49,4 +51,5 @@ public class TriMesh
     {
         return chunkyTriMesh.getChunksOverlappingRect(bmin, bmax);
     }
+}
 }

src/DotRecast.Recast/Heightfield.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a heightfield layer within a layer set. */
 public class Heightfield
@@ -58,4 +60,5 @@ public class Heightfield
         this.borderSize = borderSize;
         spans = new Span[width * height];
     }
+}
 }

src/DotRecast.Recast/HeightfieldLayerSet.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /// Represents a set of heightfield layers.
 /// @ingroup recast
@@ -75,4 +77,5 @@ public class HeightfieldLayerSet
     }
 
     public HeightfieldLayer[] layers; /// < The layers in the set. [Size: #nlayers]
+}
 }

src/DotRecast.Recast/InputGeomReader.cs

@@ -1,5 +1,8 @@
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class InputGeomReader
 {
+}
 }

src/DotRecast.Recast/ObjImporter.cs

@@ -21,14 +21,16 @@ using System.Collections.Generic;
 using System.IO;
 using DotRecast.Recast.Geom;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public static class ObjImporter
 {
     public class ObjImporterContext
     {
-        public List<float> vertexPositions = new();
-        public List<int> meshFaces = new();
+        public List<float> vertexPositions = new List<float>();
+        public List<int> meshFaces = new List<int>();
     }
 
     public static InputGeomProvider load(byte[] chunck)
@@ -135,4 +137,5 @@ public static class ObjImporter
 
         return posi;
     }
+}
 }

src/DotRecast.Recast/PartitionType.cs

@@ -1,4 +1,6 @@
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /// < Tessellate edges between areas during contour
 /// simplification.
@@ -7,4 +9,5 @@ public enum PartitionType
     WATERSHED,
     MONOTONE,
     LAYERS
+}
 }

src/DotRecast.Recast/PolyMesh.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a polygon mesh suitable for use in building a navigation mesh. */
 public class PolyMesh
@@ -66,4 +68,5 @@ public class PolyMesh
 
     /** The max error of the polygon edges in the mesh. */
     public float maxEdgeError;
+}
 }

src/DotRecast.Recast/PolyMeshDetail.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /**
  * Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon
@@ -43,4 +45,5 @@ public class PolyMeshDetail
 
     /** The number of triangles in #tris. */
     public int ntris;
+}
 }

src/DotRecast.Recast/Recast.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -119,4 +121,5 @@ public class Recast
                 areas[i] = RC_NULL_AREA;
         }
     }
+}
 }

src/DotRecast.Recast/RecastArea.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -582,4 +584,5 @@ public class RecastArea
 
         ctx.stopTimer("MARK_CYLINDER_AREA");
     }
+}
 }

src/DotRecast.Recast/RecastBuilder.cs

@@ -25,7 +25,9 @@ using System.Threading.Tasks;
 using DotRecast.Core;
 using DotRecast.Recast.Geom;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class RecastBuilder
 {
@@ -52,7 +54,7 @@ public class RecastBuilder
         int[] twh = Recast.calcTileCount(bmin, bmax, cfg.cs, cfg.tileSizeX, cfg.tileSizeZ);
         int tw = twh[0];
         int th = twh[1];
-        List<RecastBuilderResult> results = new();
+        List<RecastBuilderResult> results = new List<RecastBuilderResult>();
         if (null != taskFactory)
         {
             buildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default);
@@ -104,7 +106,7 @@ public class RecastBuilder
     {
         AtomicInteger counter = new AtomicInteger(0);
         CountdownEvent latch = new CountdownEvent(tw * th);
-        List<Task> tasks = new();
+        List<Task> tasks = new List<Task>();
 
         for (int x = 0; x < tw; ++x)
         {
@@ -317,4 +319,5 @@ public class RecastBuilder
         CompactHeightfield chf = buildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
         return RecastLayers.buildHeightfieldLayers(ctx, chf, builderCfg.cfg.walkableHeight);
     }
+}
 }

src/DotRecast.Recast/RecastBuilderConfig.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastVectors;
 
@@ -97,4 +99,5 @@ public class RecastBuilderConfig
             height = wh[1];
         }
     }
+}
 }

src/DotRecast.Recast/RecastBuilderResult.cs

@@ -1,4 +1,6 @@
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class RecastBuilderResult
 {
@@ -54,3 +56,5 @@ public class RecastBuilderResult
         return telemetry;
     }
 }
+
+}

src/DotRecast.Recast/RecastCommon.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class RecastCommon
 {
@@ -82,4 +84,5 @@ public class RecastCommon
     }
 
 
+}
 }

src/DotRecast.Recast/RecastCompact.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 using static RecastVectors;
@@ -183,4 +185,5 @@ public class RecastCompact
 
         return spanCount;
     }
+}
 }

src/DotRecast.Recast/RecastConfig.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -183,4 +185,5 @@ public class RecastConfig
     {
         return 3 + (int)Math.Ceiling(agentRadius / cs);
     }
+}
 }

src/DotRecast.Recast/RecastConstants.cs

@@ -18,7 +18,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public static class RecastConstants
 {
@@ -82,4 +84,5 @@ public static class RecastConstants
 
 
     public const int RC_LOG_WARNING = 1;
+}
 }

src/DotRecast.Recast/RecastContour.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -842,8 +844,8 @@ public class RecastContour
 
         ctx.stopTimer("CONTOURS_TRACE");
 
-        List<int> verts = new(256);
-        List<int> simplified = new(64);
+        List<int> verts = new List<int>(256);
+        List<int> simplified = new List<int>(64);
 
         for (int y = 0; y < h; ++y)
         {
@@ -1017,4 +1019,5 @@ public class RecastContour
         ctx.stopTimer("CONTOURS");
         return cset;
     }
+}
 }

src/DotRecast.Recast/RecastFilledVolumeRasterization.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 using static RecastVectors;
@@ -799,4 +801,5 @@ public class RecastFilledVolumeRasterization
         overlap = (amin[2] > bounds[5] || amax[2] < bounds[2]) ? false : overlap;
         return overlap;
     }
+}
 }

src/DotRecast.Recast/RecastFilter.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -202,4 +204,5 @@ public class RecastFilter
 
         ctx.stopTimer("FILTER_WALKABLE");
     }
+}
 }

src/DotRecast.Recast/RecastLayers.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastCommon;
 using static RecastConstants;
@@ -45,8 +47,8 @@ public class RecastLayers {
             id = i;
             ymin = 0xFFFF;
             layerId = 0xff;
-            layers = new();
-            neis = new();
+            layers = new List<int>();
+            neis = new List<int>();
         }
 
     };
@@ -174,7 +176,7 @@ public class RecastLayers {
         }
 
         // Find region neighbours and overlapping regions.
-        List<int> lregs = new();
+        List<int> lregs = new List<int>();
         for (int y = 0; y < h; ++y) {
             for (int x = 0; x < w; ++x) {
                 CompactCell c = chf.cells[x + y * w];
@@ -225,7 +227,7 @@ public class RecastLayers {
         // Create 2D layers from regions.
         int layerId = 0;
 
-        List<int> stack = new();
+        List<int> stack = new List<int>();
 
         for (int i = 0; i < nregs; ++i) {
             LayerRegion root = regs[i];
@@ -505,3 +507,5 @@ public class RecastLayers {
         return lset;
     }
 }
+
+}

src/DotRecast.Recast/RecastMesh.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -1212,3 +1214,5 @@ public class RecastMesh {
         return dst;
     }
 }
+
+}

src/DotRecast.Recast/RecastMeshDetail.cs

@@ -22,7 +22,9 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastCommon;
 using static RecastConstants;
@@ -454,7 +456,7 @@ public class RecastMeshDetail {
     private static void delaunayHull(Telemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris) {
         int nfaces = 0;
         int maxEdges = npts * 10;
-        List<int> edges = new(64);
+        List<int> edges = new List<int>(64);
         for (int i = 0, j = nhull - 1; i < nhull; j = i++) {
             addEdge(ctx, edges, maxEdges, hull[j], hull[i], EV_HULL, EV_UNDEF);
         }
@@ -618,7 +620,7 @@ public class RecastMeshDetail {
     static int buildPolyDetail(Telemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
             int heightSearchRadius, CompactHeightfield chf, HeightPatch hp, float[] verts, List<int> tris) {
 
-        List<int> samples = new(512);
+        List<int> samples = new List<int>(512);
 
         int nverts = 0;
         float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3];
@@ -988,7 +990,7 @@ public class RecastMeshDetail {
         // 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(512);
+        List<int> queue = new List<int>(512);
         Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
 
         bool empty = true;
@@ -1127,7 +1129,7 @@ public class RecastMeshDetail {
         int borderSize = mesh.borderSize;
         int heightSearchRadius = (int) Math.Max(1, Math.Ceiling(mesh.maxEdgeError));
 
-        List<int> tris = new(512);
+        List<int> tris = new List<int>(512);
         float[] verts = new float[256 * 3];
         HeightPatch hp = new HeightPatch();
         int nPolyVerts = 0;
@@ -1333,3 +1335,5 @@ public class RecastMeshDetail {
     }
 
 }
+
+}

src/DotRecast.Recast/RecastRasterization.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -481,4 +483,5 @@ public class RecastRasterization
 
         ctx.stopTimer("RASTERIZE_TRIANGLES");
     }
+}
 }

src/DotRecast.Recast/RecastRegion.cs

@@ -22,7 +22,9 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 using static RecastConstants;
 
@@ -360,7 +362,7 @@ public class RecastRegion {
             }
         }
 
-        List<int> dirtyEntries = new();
+        List<int> dirtyEntries = new List<int>();
         int iter = 0;
         while (stack.Count > 0) {
             int failed = 0;
@@ -493,8 +495,8 @@ public class RecastRegion {
         public Region(int i) {
             id = i;
             ymin = 0xFFFF;
-            connections = new();
-            floors = new();
+            connections = new List<int>();
+            floors = new List<int>();
         }
 
     }
@@ -563,7 +565,7 @@ public class RecastRegion {
         int bid = regb.id;
 
         // Duplicate current neighbourhood.
-        List<int> acon = new(rega.connections);
+        List<int> acon = new List<int>(rega.connections);
         List<int> bcon = regb.connections;
 
         // Find insertion point on A.
@@ -770,8 +772,8 @@ public class RecastRegion {
         }
 
         // Remove too small regions.
-        List<int> stack = new(32);
-        List<int> trace = new(32);
+        List<int> stack = new List<int>(32);
+        List<int> trace = new List<int>(32);
         for (int i = 0; i < nreg; ++i) {
             Region reg = regions[i];
             if (reg.id == 0 || (reg.id & RC_BORDER_REG) != 0) {
@@ -966,7 +968,7 @@ public class RecastRegion {
         }
 
         // Find region neighbours and overlapping regions.
-        List<int> lregs = new(32);
+        List<int> lregs = new List<int>(32);
         for (int y = 0; y < h; ++y) {
             for (int x = 0; x < w; ++x) {
                 CompactCell c = chf.cells[x + y * w];
@@ -1029,7 +1031,7 @@ public class RecastRegion {
         }
 
         // Merge montone regions to create non-overlapping areas.
-        List<int> stack = new(32);
+        List<int> stack = new List<int>(32);
         for (int i = 1; i < nreg; ++i) {
             Region root = regions[i];
             // Skip already visited.
@@ -1333,7 +1335,7 @@ public class RecastRegion {
         ctx.startTimer("REGIONS_FILTER");
 
         // Merge regions and filter out small regions.
-        List<int> overlaps = new();
+        List<int> overlaps = new List<int>();
         chf.maxRegions = mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, id, chf, srcReg, overlaps);
 
         // Monotone partitioning does not generate overlapping regions.
@@ -1380,12 +1382,12 @@ public class RecastRegion {
 
         int LOG_NB_STACKS = 3;
         int NB_STACKS = 1 << LOG_NB_STACKS;
-        List<List<int>> lvlStacks = new();
+        List<List<int>> lvlStacks = new List<List<int>>();
         for (int i = 0; i < NB_STACKS; ++i) {
-            lvlStacks.Add(new (1024));
+            lvlStacks.Add(new List<int>(1024));
         }
 
-        List<int> stack = new(1024);
+        List<int> stack = new List<int>(1024);
 
         int[] srcReg = new int[chf.spanCount];
         int[] srcDist = new int[chf.spanCount];
@@ -1464,7 +1466,7 @@ public class RecastRegion {
         ctx.startTimer("REGIONS_FILTER");
 
         // Merge regions and filter out smalle regions.
-        List<int> overlaps = new();
+        List<int> overlaps = new List<int>();
         chf.maxRegions = mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, regionId, chf, srcReg, overlaps);
 
         // If overlapping regions were found during merging, split those regions.
@@ -1603,7 +1605,7 @@ public class RecastRegion {
         ctx.startTimer("REGIONS_FILTER");
 
         // Merge monotone regions to layers and remove small regions.
-        List<int> overlaps = new();
+        List<int> overlaps = new List<int>();
         chf.maxRegions = mergeAndFilterLayerRegions(ctx, minRegionArea, id, chf, srcReg, overlaps);
 
         ctx.stopTimer("REGIONS_FILTER");
@@ -1617,3 +1619,5 @@ public class RecastRegion {
 
     }
 }
+
+}

src/DotRecast.Recast/RecastVectors.cs

@@ -20,7 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public static class RecastVectors
 {
@@ -95,4 +97,5 @@ public static class RecastVectors
     {
         return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
     }
+}
 }

src/DotRecast.Recast/RecastVoxelization.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 using System.Collections.Generic;
 using DotRecast.Recast.Geom;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class RecastVoxelization {
 
@@ -71,3 +73,5 @@ public class RecastVoxelization {
     }
 
 }
+
+}

src/DotRecast.Recast/Span.cs

@@ -17,7 +17,9 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 /** Represents a span in a heightfield. */
 public class Span {
@@ -32,3 +34,5 @@ public class Span {
     public Span next;
 
 }
+
+}

src/DotRecast.Recast/Telemetry.cs

@@ -23,12 +23,14 @@ using System.Diagnostics;
 using System.Threading;
 using DotRecast.Core;
 
-namespace DotRecast.Recast;
+namespace DotRecast.Recast
+{
+
 
 public class Telemetry
 {
-    private readonly ThreadLocal<Dictionary<string, AtomicLong>> timerStart = new(() => new Dictionary<string, AtomicLong>());
-    private readonly ConcurrentDictionary<string, AtomicLong> timerAccum = new();
+    private readonly ThreadLocal<Dictionary<string, AtomicLong>> timerStart = new ThreadLocal<Dictionary<string, AtomicLong>>(() => new Dictionary<string, AtomicLong>());
+    private readonly ConcurrentDictionary<string, AtomicLong> timerAccum = new ConcurrentDictionary<string, AtomicLong>();
 
     public void startTimer(string name)
     {
@@ -54,4 +56,5 @@ public class Telemetry
             Console.WriteLine(n + ": " + v.Read() / 1000000);
         }
     }
+}
 }

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

@@ -345,10 +345,10 @@ public class Crowd4Test : AbstractCrowdTest {
         setMoveTarget(endPoss[0], false);
         for (int i = 0; i < EXPECTED_A1Q2T.Length; i++)
         {
-            if (i == 37)
-            {
-                int a = 3;
-            }
+            // if (i == 37)
+            // {
+            //     int a = 3;
+            // }
 
             crowd.update(1 / 5f, null);
             CrowdAgent ag = agents[2];

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -67,7 +67,7 @@ public class FindNearestPolyTest : AbstractDetourTest {
             float[] startPos = startPoss[i];
             Result<FindNearestPolyResult> poly = query.findNearestPoly(startPos, extents, filter);
             Assert.That(poly.succeeded(), Is.True);
-            Assert.That(0L, Is.EqualTo(poly.result.getNearestRef()));
+            Assert.That(poly.result.getNearestRef(), Is.EqualTo(0L));
             for (int v = 0; v < POLY_POS[i].Length; v++) {
                 Assert.That(poly.result.getNearestPos()[v], Is.EqualTo(startPos[v]).Within(0.001f));
             }

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -300,6 +300,7 @@ public class RecastSoloMeshTest
         }
         catch (Exception e)
         {
+            Console.WriteLine(e);
         }
     }
 
@@ -332,6 +333,7 @@ public class RecastSoloMeshTest
         }
         catch (Exception e)
         {
+            Console.WriteLine(e);
         }
     }
 }

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -157,6 +157,7 @@ public class RecastTileMeshTest
         }
         catch (Exception e)
         {
+            Console.WriteLine(e);
         }
     }