test

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -316,7 +317,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
+                DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;

src/DotRecast.Detour/DtPathUtils.cs

@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
@@ -141,13 +142,13 @@ namespace DotRecast.Detour
             return path;
         }
 
-        public static List<long> MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = path.Count - 1; i >= 0; --i)
+            for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
                 for (int j = visited.Count - 1; j >= 0; --j)
@@ -169,22 +170,37 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
 
             // Adjust beginning of the buffer to include the visited.
-            List<long> result = new List<long>();
+            int req = visited.Count - furthestVisited;
+            int orig = Math.Min(furthestPath + 1, npath);
+            int size = Math.Max(0, npath - orig);
+            if (req + size > maxPath)
+                size = maxPath - req;
 
-            // Store visited
+            if (size > 0)
-            for (int i = visited.Count - 1; i > furthestVisited; --i)
             {
-                result.Add(visited[i]);
+                //memmove(path + req, path + orig, size * sizeof(dtPolyRef));
+                for (int i = 0; i < size; ++i)
+                {
+                    if (path.Count <= req + i)
+                        path.Add(0);
+                    
+                    path[req + i] = path[orig + i];
+                }
             }
 
-            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
+            // Store visited
-            return result;
+            for (int i = 0, n = Math.Min(req, maxPath); i < n; ++i)
+            {
+                path[i] = visited[(visited.Count - 1) - i];
+            }
+
+            return req + size;
         }
 
         public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)

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

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
@@ -92,7 +93,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                 iterPos = result;
 
-                pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
+                DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
                 pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);

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

@@ -47,7 +47,7 @@ public class DtPathCorridorTest
         const int maxPath = 0;
         var visited = new List<long>();
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(0));
+        Assert.That(result, Is.EqualTo(0));
     }
 
     [Test(Description = "dtMergeCorridorStartMoved")]
@@ -60,7 +60,7 @@ public class DtPathCorridorTest
         var visited = new List<long>();
 
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(1));
+        Assert.That(result, Is.EqualTo(1));
 
         var expectedPath = new List<long> { 1 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -76,7 +76,7 @@ public class DtPathCorridorTest
         var visited = new List<long> { 1 };
 
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(0));
+        Assert.That(result, Is.EqualTo(0));
     }
 
     [Test(Description = "dtMergeCorridorStartMoved")]
@@ -89,7 +89,7 @@ public class DtPathCorridorTest
         var visited = new List<long> { 1, 2 };
 
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(1));
+        Assert.That(result, Is.EqualTo(1));
 
         var expectedPath = new List<long> { 2, 2 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -103,7 +103,7 @@ public class DtPathCorridorTest
         const int maxPath = 3;
         var visited = new List<long> { 1, 2, 3, 4 };
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(3));
+        Assert.That(result, Is.EqualTo(3));
 
         var expectedPath = new List<long> { 4, 3, 2 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -117,7 +117,7 @@ public class DtPathCorridorTest
         const int maxPath = 3;
         var visited = new List<long>() { 1, 2, 3, 4, 5 };
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(3));
+        Assert.That(result, Is.EqualTo(3));
 
         var expectedPath = new List<long> { 5, 4, 3 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -131,7 +131,7 @@ public class DtPathCorridorTest
         const int maxPath = 2;
         var visited = new List<long>() { 3, 4 };
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(2));
+        Assert.That(result, Is.EqualTo(2));
 
         var expectedPath = new List<long> { 1, 2 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -145,7 +145,7 @@ public class DtPathCorridorTest
         const int maxPath = 3;
         var visited = new List<long>() { 1, 3 };
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(3));
+        Assert.That(result, Is.EqualTo(3));
 
         var expectedPath = new List<long> { 3, 1, 2 };
         Assert.That(path, Is.EqualTo(expectedPath));
@@ -159,7 +159,7 @@ public class DtPathCorridorTest
         const int maxPath = 2;
         var visited = new List<long>() { 1, 3 };
         var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
-        Assert.That(result.Count, Is.EqualTo(2));
+        Assert.That(result, Is.EqualTo(2));
 
         var expectedPath = new List<long> { 3, 1 };
         Assert.That(path, Is.EqualTo(expectedPath));