rename Telemetry -> RcTelemetry, add RcTelemetryTick

src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs

@@ -29,6 +29,7 @@ namespace DotRecast.Detour.Crowd
         public const int TIMING_SAMPLES = 10;
         private float _maxTimeToEnqueueRequest;
         private float _maxTimeToFindPath;
+        
         private readonly Dictionary<string, long> _executionTimings = new Dictionary<string, long>();
         private readonly Dictionary<string, List<long>> _executionTimingSamples = new Dictionary<string, List<long>>();
 

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

@@ -38,6 +38,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return _bounds;
         }
 
-        public abstract void Rasterize(RcHeightfield hf, Telemetry telemetry);
+        public abstract void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
     }
 }

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

@@ -60,7 +60,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             RecastFilledVolumeRasterization.RasterizeBox(
                 hf, center, halfEdges, area, (int)Math.Floor(flagMergeThreshold / hf.ch), telemetry);

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

@@ -36,7 +36,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             RecastFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);

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

@@ -66,7 +66,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             foreach (var c in colliders)
                 c.Rasterize(hf, telemetry);

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

@@ -40,7 +40,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.triangles = triangles;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             RecastFilledVolumeRasterization.RasterizeConvex(hf, vertices, triangles, area,
                 (int)Math.Floor(flagMergeThreshold / hf.ch), telemetry);

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

@@ -36,7 +36,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             RecastFilledVolumeRasterization.RasterizeCylinder(hf, start, end, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);

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

@@ -23,6 +23,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
     public interface ICollider
     {
         float[] Bounds();
-        void Rasterize(RcHeightfield hf, Telemetry telemetry);
+        void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
     }
 }

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

@@ -34,7 +34,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             RecastFilledVolumeRasterization.RasterizeSphere(hf, center, radius, area, (int)Math.Floor(flagMergeThreshold / hf.ch),
                 telemetry);

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

@@ -56,7 +56,7 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, Telemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
         {
             for (int i = 0; i < triangles.Length; i += 3)
             {

src/DotRecast.Detour.Dynamic/DynamicNavMesh.cs

@@ -35,7 +35,7 @@ namespace DotRecast.Detour.Dynamic
         public readonly DynamicNavMeshConfig config;
         private readonly RecastBuilder builder;
         private readonly Dictionary<long, DynamicTile> _tiles = new Dictionary<long, DynamicTile>();
-        private readonly Telemetry telemetry;
+        private readonly RcTelemetry telemetry;
         private readonly DtNavMeshParams navMeshParams;
         private readonly BlockingCollection<IUpdateQueueItem> updateQueue = new BlockingCollection<IUpdateQueueItem>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
@@ -72,7 +72,7 @@ namespace DotRecast.Detour.Dynamic
             }
 
             ;
-            telemetry = new Telemetry();
+            telemetry = new RcTelemetry();
         }
 
         public DtNavMesh NavMesh()

src/DotRecast.Detour.Dynamic/DynamicTile.cs

@@ -42,7 +42,7 @@ namespace DotRecast.Detour.Dynamic
             this.voxelTile = voxelTile;
         }
 
-        public bool Build(RecastBuilder builder, DynamicNavMeshConfig config, Telemetry telemetry)
+        public bool Build(RecastBuilder builder, DynamicNavMeshConfig config, RcTelemetry telemetry)
         {
             if (dirty)
             {
@@ -57,7 +57,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private RcHeightfield BuildHeightfield(DynamicNavMeshConfig config, Telemetry telemetry)
+        private RcHeightfield BuildHeightfield(DynamicNavMeshConfig config, RcTelemetry telemetry)
         {
             ICollection<long> rasterizedColliders = checkpoint != null ? checkpoint.colliders : ImmutableHashSet<long>.Empty;
             RcHeightfield heightfield = checkpoint != null ? checkpoint.heightfield : voxelTile.Heightfield();
@@ -79,7 +79,7 @@ namespace DotRecast.Detour.Dynamic
         }
 
         private RecastBuilderResult BuildRecast(RecastBuilder builder, DynamicNavMeshConfig config, VoxelTile vt,
-            RcHeightfield heightfield, Telemetry telemetry)
+            RcHeightfield heightfield, RcTelemetry telemetry)
         {
             RcConfig rcConfig = new RcConfig(config.useTiles, config.tileSizeX, config.tileSizeZ, vt.borderSize,
                 config.partitionType, vt.cellSize, vt.cellHeight, config.walkableSlopeAngle, true, true, true,

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -611,8 +611,8 @@ public class RecastDemo
                 var telemetries = buildResult.RecastBuilderResults
                     .Select(x => x.GetTelemetry())
                     .SelectMany(x => x.ToList())
-                    .GroupBy(x => x.Item1)
-                    .ToImmutableSortedDictionary(x => x.Key, x => x.Sum(y => y.Item2));
+                    .GroupBy(x => x.Key)
+                    .ToImmutableSortedDictionary(x => x.Key, x => x.Sum(y => y.Millis));
 
                 foreach (var (key, millis) in telemetries)
                 {

src/DotRecast.Recast/RcTelemetry.cs

@@ -26,32 +26,38 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    public class Telemetry
+    public class RcTelemetry
     {
-        private readonly ThreadLocal<Dictionary<string, RcAtomicLong>> timerStart = new ThreadLocal<Dictionary<string, RcAtomicLong>>(() => new Dictionary<string, RcAtomicLong>());
-        private readonly ConcurrentDictionary<string, RcAtomicLong> timerAccum = new ConcurrentDictionary<string, RcAtomicLong>();
+        private readonly ThreadLocal<Dictionary<string, RcAtomicLong>> _timerStart;
+        private readonly ConcurrentDictionary<string, RcAtomicLong> _timerAccum;
+
+        public RcTelemetry()
+        {
+            _timerStart = new ThreadLocal<Dictionary<string, RcAtomicLong>>(() => new Dictionary<string, RcAtomicLong>());
+            _timerAccum = new ConcurrentDictionary<string, RcAtomicLong>();
+        }
 
         public void StartTimer(string name)
         {
-            timerStart.Value[name] = new RcAtomicLong(RcFrequency.Ticks);
+            _timerStart.Value[name] = new RcAtomicLong(RcFrequency.Ticks);
         }
 
         public void StopTimer(string name)
         {
-            timerAccum
+            _timerAccum
                 .GetOrAdd(name, _ => new RcAtomicLong(0))
-                .AddAndGet(RcFrequency.Ticks - timerStart.Value?[name].Read() ?? 0);
+                .AddAndGet(RcFrequency.Ticks - _timerStart.Value?[name].Read() ?? 0);
         }
 
-        public void Warn(string @string)
+        public void Warn(string message)
         {
-            Console.WriteLine(@string);
+            Console.WriteLine(message);
         }
 
-        public List<Tuple<string, long>> ToList()
+        public List<RcTelemetryTick> ToList()
         {
-            return timerAccum
-                .Select(x => Tuple.Create(x.Key, x.Value.Read() / TimeSpan.TicksPerMillisecond))
+            return _timerAccum
+                .Select(x => new RcTelemetryTick(x.Key, x.Value.Read()))
                 .ToList();
         }
     }

src/DotRecast.Recast/RcTelemetryTick.cs

@@ -0,0 +1,17 @@
+using System;
+
+namespace DotRecast.Recast
+{
+    public readonly struct RcTelemetryTick
+    {
+        public readonly string Key;
+        public readonly long Ticks;
+        public long Millis => Ticks / TimeSpan.TicksPerMillisecond;
+
+        public RcTelemetryTick(string key, long ticks)
+        {
+            Key = key;
+            Ticks = ticks;
+        }
+    }
+}

src/DotRecast.Recast/Recast.cs

@@ -67,7 +67,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static int[] MarkWalkableTriangles(Telemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, AreaModification areaMod)
+        public static int[] MarkWalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, AreaModification areaMod)
         {
             int[] areas = new int[nt];
             float walkableThr = (float)Math.Cos(walkableSlopeAngle / 180.0f * Math.PI);
@@ -103,7 +103,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static void ClearUnwalkableTriangles(Telemetry ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
+        public static void ClearUnwalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
         {
             float walkableThr = (float)Math.Cos(walkableSlopeAngle / 180.0f * Math.PI);
 

src/DotRecast.Recast/RecastArea.cs

@@ -35,7 +35,7 @@ namespace DotRecast.Recast
         /// This method is usually called immediately after the heightfield has been built.
         ///
         /// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
-        public static void ErodeWalkableArea(Telemetry ctx, int radius, RcCompactHeightfield chf)
+        public static void ErodeWalkableArea(RcTelemetry ctx, int radius, RcCompactHeightfield chf)
         {
             int w = chf.width;
             int h = chf.height;
@@ -215,7 +215,7 @@ namespace DotRecast.Recast
         /// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
         ///
         /// @see rcCompactHeightfield
-        public static bool MedianFilterWalkableArea(Telemetry ctx, RcCompactHeightfield chf)
+        public static bool MedianFilterWalkableArea(RcTelemetry ctx, RcCompactHeightfield chf)
         {
             int w = chf.width;
             int h = chf.height;
@@ -283,7 +283,7 @@ namespace DotRecast.Recast
         /// The value of spacial parameters are in world units.
         ///
         /// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-        public static void MarkBoxArea(Telemetry ctx, float[] bmin, float[] bmax, AreaModification areaMod, RcCompactHeightfield chf)
+        public static void MarkBoxArea(RcTelemetry ctx, float[] bmin, float[] bmax, AreaModification areaMod, RcCompactHeightfield chf)
         {
             ctx.StartTimer("MARK_BOX_AREA");
 
@@ -357,7 +357,7 @@ namespace DotRecast.Recast
         /// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
         ///
         /// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-        public static void MarkConvexPolyArea(Telemetry ctx, float[] verts, float hmin, float hmax, AreaModification areaMod,
+        public static void MarkConvexPolyArea(RcTelemetry ctx, float[] verts, float hmin, float hmax, AreaModification areaMod,
             RcCompactHeightfield chf)
         {
             ctx.StartTimer("MARK_CONVEXPOLY_AREA");
@@ -513,7 +513,7 @@ namespace DotRecast.Recast
         /// The value of spacial parameters are in world units.
         ///
         /// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-        public static void MarkCylinderArea(Telemetry ctx, float[] pos, float r, float h, AreaModification areaMod, RcCompactHeightfield chf)
+        public static void MarkCylinderArea(RcTelemetry ctx, float[] pos, float r, float h, AreaModification areaMod, RcCompactHeightfield chf)
         {
             ctx.StartTimer("MARK_CYLINDER_AREA");
 

src/DotRecast.Recast/RecastBuilder.cs

@@ -158,7 +158,7 @@ namespace DotRecast.Recast
         public RecastBuilderResult Build(IInputGeomProvider geom, RecastBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
-            Telemetry ctx = new Telemetry();
+            RcTelemetry ctx = new RcTelemetry();
             //
             // Step 1. Rasterize input polygon soup.
             //
@@ -167,7 +167,7 @@ namespace DotRecast.Recast
         }
 
         public RecastBuilderResult Build(int tileX, int tileZ, IConvexVolumeProvider geom, RcConfig cfg, RcHeightfield solid,
-            Telemetry ctx)
+            RcTelemetry ctx)
         {
             FilterHeightfield(solid, cfg, ctx);
             RcCompactHeightfield chf = BuildCompactHeightfield(geom, cfg, ctx, solid);
@@ -257,7 +257,7 @@ namespace DotRecast.Recast
         /*
          * Step 2. Filter walkable surfaces.
          */
-        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, Telemetry ctx)
+        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcTelemetry ctx)
         {
             // Once all geometry is rasterized, we do initial pass of filtering to
             // remove unwanted overhangs caused by the conservative rasterization
@@ -281,7 +281,7 @@ namespace DotRecast.Recast
         /*
          * Step 3. Partition walkable surface to simple regions.
          */
-        private RcCompactHeightfield BuildCompactHeightfield(IConvexVolumeProvider volumeProvider, RcConfig cfg, Telemetry ctx,
+        private RcCompactHeightfield BuildCompactHeightfield(IConvexVolumeProvider volumeProvider, RcConfig cfg, RcTelemetry ctx,
             RcHeightfield solid)
         {
             // Compact the heightfield so that it is faster to handle from now on.
@@ -305,7 +305,7 @@ namespace DotRecast.Recast
 
         public RcHeightfieldLayerSet BuildLayers(IInputGeomProvider geom, RecastBuilderConfig builderCfg)
         {
-            Telemetry ctx = new Telemetry();
+            RcTelemetry ctx = new RcTelemetry();
             RcHeightfield solid = RecastVoxelization.BuildSolidHeightfield(geom, builderCfg, ctx);
             FilterHeightfield(solid, builderCfg.cfg, ctx);
             RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);

src/DotRecast.Recast/RecastBuilderResult.cs

@@ -9,9 +9,9 @@
         private readonly RcPolyMesh pmesh;
         private readonly RcPolyMeshDetail dmesh;
         private readonly RcHeightfield solid;
-        private readonly Telemetry telemetry;
+        private readonly RcTelemetry telemetry;
 
-        public RecastBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, Telemetry ctx)
+        public RecastBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcTelemetry ctx)
         {
             this.tileX = tileX;
             this.tileZ = tileZ;
@@ -48,7 +48,7 @@
             return solid;
         }
 
-        public Telemetry GetTelemetry()
+        public RcTelemetry GetTelemetry()
         {
             return telemetry;
         }

src/DotRecast.Recast/RecastCompact.cs

@@ -37,7 +37,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
-        public static RcCompactHeightfield BuildCompactHeightfield(Telemetry ctx, int walkableHeight, int walkableClimb,
+        public static RcCompactHeightfield BuildCompactHeightfield(RcTelemetry ctx, int walkableHeight, int walkableClimb,
             RcHeightfield hf)
         {
             ctx.StartTimer("BUILD_COMPACTHEIGHTFIELD");

src/DotRecast.Recast/RecastContour.cs

@@ -607,7 +607,7 @@ namespace DotRecast.Recast
             return new int[] { minx, minz, leftmost };
         }
 
-        private static void MergeRegionHoles(Telemetry ctx, RcContourRegion region)
+        private static void MergeRegionHoles(RcTelemetry ctx, RcContourRegion region)
         {
             // Sort holes from left to right.
             for (int i = 0; i < region.nholes; i++)
@@ -713,7 +713,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-        public static RcContourSet BuildContours(Telemetry ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
+        public static RcContourSet BuildContours(RcTelemetry ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
             int buildFlags)
         {
             int w = chf.width;

src/DotRecast.Recast/RecastFilledVolumeRasterization.cs

@@ -29,7 +29,7 @@ namespace DotRecast.Recast
         private const float EPSILON = 0.00001f;
         private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 };
 
-        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, Telemetry ctx)
+        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_SPHERE");
             float[] bounds =
@@ -43,7 +43,7 @@ namespace DotRecast.Recast
         }
 
         public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr,
-            Telemetry ctx)
+            RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_CAPSULE");
             float[] bounds =
@@ -59,7 +59,7 @@ namespace DotRecast.Recast
         }
 
         public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr,
-            Telemetry ctx)
+            RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_CYLINDER");
             float[] bounds =
@@ -75,7 +75,7 @@ namespace DotRecast.Recast
         }
 
         public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr,
-            Telemetry ctx)
+            RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_BOX");
             RcVec3f[] normals =
@@ -127,7 +127,7 @@ namespace DotRecast.Recast
         }
 
         public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr,
-            Telemetry ctx)
+            RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_CONVEX");
             float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };

src/DotRecast.Recast/RecastFilter.cs

@@ -37,7 +37,7 @@ namespace DotRecast.Recast
         /// #rcFilterLedgeSpans after calling this filter.
         ///
         /// @see rcHeightfield, rcConfig
-        public static void FilterLowHangingWalkableObstacles(Telemetry ctx, int walkableClimb, RcHeightfield solid)
+        public static void FilterLowHangingWalkableObstacles(RcTelemetry ctx, int walkableClimb, RcHeightfield solid)
         {
             ctx.StartTimer("FILTER_LOW_OBSTACLES");
 
@@ -84,7 +84,7 @@ namespace DotRecast.Recast
         /// A span is a ledge if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
         ///
         /// @see rcHeightfield, rcConfig
-        public static void FilterLedgeSpans(Telemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield solid)
+        public static void FilterLedgeSpans(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield solid)
         {
             ctx.StartTimer("FILTER_LEDGE");
 
@@ -177,7 +177,7 @@ namespace DotRecast.Recast
         /// maximum to the next higher span's minimum. (Same grid column.)
         ///
         /// @see rcHeightfield, rcConfig
-        public static void FilterWalkableLowHeightSpans(Telemetry ctx, int walkableHeight, RcHeightfield solid)
+        public static void FilterWalkableLowHeightSpans(RcTelemetry ctx, int walkableHeight, RcHeightfield solid)
         {
             ctx.StartTimer("FILTER_WALKABLE");
 

src/DotRecast.Recast/RecastLayers.cs

@@ -51,7 +51,7 @@ namespace DotRecast.Recast
             return (amin > bmax || amax < bmin) ? false : true;
         }
 
-        public static RcHeightfieldLayerSet BuildHeightfieldLayers(Telemetry ctx, RcCompactHeightfield chf, int walkableHeight)
+        public static RcHeightfieldLayerSet BuildHeightfieldLayers(RcTelemetry ctx, RcCompactHeightfield chf, int walkableHeight)
         {
             ctx.StartTimer("RC_TIMER_BUILD_LAYERS");
             int w = chf.width;

src/DotRecast.Recast/RecastMesh.cs

@@ -574,7 +574,7 @@ namespace DotRecast.Recast
             return an;
         }
 
-        private static bool CanRemoveVertex(Telemetry ctx, RcPolyMesh mesh, int rem)
+        private static bool CanRemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem)
         {
             int nvp = mesh.nvp;
 
@@ -677,7 +677,7 @@ namespace DotRecast.Recast
             return true;
         }
 
-        private static void RemoveVertex(Telemetry ctx, RcPolyMesh mesh, int rem, int maxTris)
+        private static void RemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem, int maxTris)
         {
             int nvp = mesh.nvp;
 
@@ -964,7 +964,7 @@ namespace DotRecast.Recast
         /// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
         ///
         /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
-        public static RcPolyMesh BuildPolyMesh(Telemetry ctx, RcContourSet cset, int nvp)
+        public static RcPolyMesh BuildPolyMesh(RcTelemetry ctx, RcContourSet cset, int nvp)
         {
             ctx.StartTimer("POLYMESH");
             RcPolyMesh mesh = new RcPolyMesh();
@@ -1209,7 +1209,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMesh, rcPolyMesh
-        public static RcPolyMesh MergePolyMeshes(Telemetry ctx, RcPolyMesh[] meshes, int nmeshes)
+        public static RcPolyMesh MergePolyMeshes(RcTelemetry ctx, RcPolyMesh[] meshes, int nmeshes)
         {
             if (nmeshes == 0 || meshes == null)
                 return null;
@@ -1338,7 +1338,7 @@ namespace DotRecast.Recast
             return mesh;
         }
 
-        public static RcPolyMesh CopyPolyMesh(Telemetry ctx, RcPolyMesh src)
+        public static RcPolyMesh CopyPolyMesh(RcTelemetry ctx, RcPolyMesh src)
         {
             RcPolyMesh dst = new RcPolyMesh();
 

src/DotRecast.Recast/RecastMeshDetail.cs

@@ -442,7 +442,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(Telemetry ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        private static void AddEdge(RcTelemetry ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -510,7 +510,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(Telemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        static int CompleteFacet(RcTelemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -627,7 +627,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(Telemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        private static void DelaunayHull(RcTelemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -831,7 +831,7 @@ namespace DotRecast.Recast
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(Telemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
+        static int BuildPolyDetail(RcTelemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
             int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
         {
             List<int> samples = new List<int>(512);
@@ -1113,7 +1113,7 @@ namespace DotRecast.Recast
             return nverts;
         }
 
-        static void SeedArrayWithPolyCenter(Telemetry ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        static void SeedArrayWithPolyCenter(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1271,7 +1271,7 @@ namespace DotRecast.Recast
             queue.Add(v3);
         }
 
-        static void GetHeightData(Telemetry ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
+        static void GetHeightData(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
             int bs, RcHeightPatch hp, int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1423,7 +1423,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
-        public static RcPolyMeshDetail BuildPolyMeshDetail(Telemetry ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
+        public static RcPolyMeshDetail BuildPolyMeshDetail(RcTelemetry ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
             float sampleDist, float sampleMaxError)
         {
             ctx.StartTimer("POLYMESHDETAIL");
@@ -1615,7 +1615,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(Telemetry ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        private static RcPolyMeshDetail MergePolyMeshDetails(RcTelemetry ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             RcPolyMeshDetail mesh = new RcPolyMeshDetail();
 

src/DotRecast.Recast/RecastRasterization.cs

@@ -398,7 +398,7 @@ namespace DotRecast.Recast
      * @see Heightfield
      */
         public static void RasterizeTriangle(RcHeightfield heightfield, float[] verts, int v0, int v1, int v2, int area,
-            int flagMergeThreshold, Telemetry ctx)
+            int flagMergeThreshold, RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_TRIANGLES");
 
@@ -429,7 +429,7 @@ namespace DotRecast.Recast
      * @see Heightfield
      */
         public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] tris, int[] areaIds, int numTris,
-            int flagMergeThreshold, Telemetry ctx)
+            int flagMergeThreshold, RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_TRIANGLES");
 
@@ -466,7 +466,7 @@ namespace DotRecast.Recast
      * @see Heightfield
      */
         public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] areaIds, int numTris,
-            int flagMergeThreshold, Telemetry ctx)
+            int flagMergeThreshold, RcTelemetry ctx)
         {
             ctx.StartTimer("RASTERIZE_TRIANGLES");
 

src/DotRecast.Recast/RecastRegion.cs

@@ -847,7 +847,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterRegions(Telemetry ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
+        private static int MergeAndFilterRegions(RcTelemetry ctx, int minRegionArea, int mergeRegionSize, int maxRegionId,
             RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
         {
             int w = chf.width;
@@ -1169,7 +1169,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static int MergeAndFilterLayerRegions(Telemetry ctx, int minRegionArea, int maxRegionId,
+        private static int MergeAndFilterLayerRegions(RcTelemetry ctx, int minRegionArea, int maxRegionId,
             RcCompactHeightfield chf, int[] srcReg, List<int> overlaps)
         {
             int w = chf.width;
@@ -1415,7 +1415,7 @@ namespace DotRecast.Recast
         /// and rcCompactHeightfield::dist fields.
         ///
         /// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
-        public static void BuildDistanceField(Telemetry ctx, RcCompactHeightfield chf)
+        public static void BuildDistanceField(RcTelemetry ctx, RcCompactHeightfield chf)
         {
             ctx.StartTimer("DISTANCEFIELD");
             int[] src = new int[chf.spanCount];
@@ -1478,7 +1478,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegionsMonotone(Telemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegionsMonotone(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             ctx.StartTimer("REGIONS");
@@ -1661,7 +1661,7 @@ namespace DotRecast.Recast
         /// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
         ///
         /// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
-        public static void BuildRegions(Telemetry ctx, RcCompactHeightfield chf, int minRegionArea,
+        public static void BuildRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea,
             int mergeRegionArea)
         {
             ctx.StartTimer("REGIONS");
@@ -1786,7 +1786,7 @@ namespace DotRecast.Recast
             ctx.StopTimer("REGIONS");
         }
 
-        public static void BuildLayerRegions(Telemetry ctx, RcCompactHeightfield chf, int minRegionArea)
+        public static void BuildLayerRegions(RcTelemetry ctx, RcCompactHeightfield chf, int minRegionArea)
         {
             ctx.StartTimer("REGIONS");
 

src/DotRecast.Recast/RecastVoxelization.cs

@@ -23,7 +23,7 @@ namespace DotRecast.Recast
 {
     public static class RecastVoxelization
     {
-        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RecastBuilderConfig builderCfg, Telemetry ctx)
+        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RecastBuilderConfig builderCfg, RcTelemetry ctx)
         {
             RcConfig cfg = builderCfg.cfg;
 

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -100,7 +100,7 @@ public class RecastSoloMeshTest
         long time = RcFrequency.Ticks;
         RcVec3f bmin = geomProvider.GetMeshBoundsMin();
         RcVec3f bmax = geomProvider.GetMeshBoundsMax();
-        Telemetry m_ctx = new Telemetry();
+        RcTelemetry m_ctx = new RcTelemetry();
         //
         // Step 1. Initialize build config.
         //
@@ -262,9 +262,9 @@ public class RecastSoloMeshTest
         Console.WriteLine("           " + (time3 - time) / TimeSpan.TicksPerMillisecond + " ms");
         SaveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + "_detail.obj", m_dmesh);
         SaveObj(filename.Substring(0, filename.LastIndexOf('.')) + "_" + partitionType + ".obj", m_pmesh);
-        foreach (var (key, millis) in m_ctx.ToList())
+        foreach (var rtt in m_ctx.ToList())
         {
-            Console.WriteLine($"{key} : {millis} ms");
+            Console.WriteLine($"{rtt.Key} : {rtt.Millis} ms");
         }
     }
 

test/DotRecast.Recast.Test/RecastTest.cs

@@ -35,7 +35,7 @@ public class RecastTest
         int[] unwalkable_tri = { 0, 2, 1 };
         int nt = 1;
 
-        Telemetry ctx = new Telemetry();
+        RcTelemetry ctx = new RcTelemetry();
         {
             int[] areas = { 42 };
             Recast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);