small refactoring

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -100,7 +100,7 @@ namespace DotRecast.Detour.Dynamic
                 Math.Min(DtDynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
                 config.detailSampleDistance, config.detailSampleMaxError,
                 true, true, true, default, true);
-            RcBuilderResult r = builder.Build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, context);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;

src/DotRecast.Recast/RcBuilder.cs

@@ -166,14 +166,14 @@ namespace DotRecast.Recast
             //
             // Step 1. Rasterize input polygon soup.
             //
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
-            return Build(builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid, ctx);
+            return Build(ctx, builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid);
         }
 
-        public RcBuilderResult Build(int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, RcContext ctx)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
-            FilterHeightfield(solid, cfg, ctx);
+            FilterHeightfield(ctx, solid, cfg);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, cfg, ctx, solid);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
 
             // Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
             // There are 3 partitioning methods, each with some pros and cons:
@@ -247,7 +247,7 @@ namespace DotRecast.Recast
         /*
          * Step 2. Filter walkable surfaces.
          */
-        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcContext ctx)
+        private void FilterHeightfield(RcContext ctx, RcHeightfield solid, RcConfig cfg)
         {
             // Once all geometry is rasterized, we do initial pass of filtering to
             // remove unwanted overhangs caused by the conservative rasterization
@@ -271,7 +271,7 @@ namespace DotRecast.Recast
         /*
          * Step 3. Partition walkable surface to simple regions.
          */
-        private RcCompactHeightfield BuildCompactHeightfield(IInputGeomProvider geom, RcConfig cfg, RcContext ctx, RcHeightfield solid)
+        private RcCompactHeightfield BuildCompactHeightfield(RcContext ctx, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
             // Compact the heightfield so that it is faster to handle from now on.
             // This will result more cache coherent data as well as the neighbours
@@ -295,9 +295,9 @@ namespace DotRecast.Recast
         public RcHeightfieldLayerSet BuildLayers(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
             RcContext ctx = new RcContext();
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
-            FilterHeightfield(solid, builderCfg.cfg, ctx);
+            FilterHeightfield(ctx, solid, builderCfg.cfg);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, builderCfg.cfg, solid);
             
             RcLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.BorderSize, builderCfg.cfg.WalkableHeight, out var lset);
             return lset;

src/DotRecast.Recast/RcVoxelizations.cs

@@ -25,7 +25,7 @@ namespace DotRecast.Recast
 {
     public static class RcVoxelizations
     {
-        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RcBuilderConfig builderCfg, RcContext ctx)
+        public static RcHeightfield BuildSolidHeightfield(RcContext ctx, IInputGeomProvider geomProvider, RcBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
 
@@ -34,13 +34,10 @@ namespace DotRecast.Recast
 
             // Allocate array that can hold triangle area types.
             // If you have multiple meshes you need to process, allocate
-            // and array which can hold the max number of triangles you need to
+            // and array which can hold the max number of triangles you need to process.
-            // process.
 
-            // Find triangles which are walkable based on their slope and rasterize
+            // Find triangles which are walkable based on their slope and rasterize them.
-            // them.
+            // If your input data is multiple meshes, you can transform them here, calculate
-            // If your input data is multiple meshes, you can transform them here,
-            // calculate
             // the are type for each of the meshes and rasterize them.
             foreach (RcTriMesh geom in geomProvider.Meshes())
             {