Merge remote-tracking branch 'refs/remotes/origin/main'

.github/workflows/codeql.yml

@@ -49,7 +49,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Set up .NET 8.0
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           dotnet-version: 8.x
       

.github/workflows/dotnet.yml

@@ -37,7 +37,7 @@ jobs:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup .NET
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           dotnet-version: ${{ matrix.dotnet-version }}.x
             

.github/workflows/publish.yml

@@ -33,7 +33,7 @@ jobs:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup Dotnet
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           dotnet-version: '8.x'
 

.github/workflows/release.yml

@@ -15,7 +15,7 @@ jobs:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup Dotnet
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
           dotnet-version: '8.x'
 

src/DotRecast.Core/RcSpans.cs

@@ -0,0 +1,22 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core
+{
+    public static class RcSpans
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(Span<T> source, Span<T> destination)
+        {
+            Copy(source, 0, destination, 0, source.Length);
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(Span<T> source, int sourceIdx, Span<T> destination, int destinationIdx, int length)
+        {
+            var src = source.Slice(sourceIdx, length);
+            var dst = destination.Slice(destinationIdx);
+            src.CopyTo(dst);
+        }
+    }
+}

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(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield, false);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;

src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj

@@ -27,8 +27,8 @@
     <PackageReference Include="Serilog.Sinks.Console" Version="5.0.1" />
     <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
     <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
-    <PackageReference Include="Silk.NET" Version="2.20.0" />
+    <PackageReference Include="Silk.NET" Version="2.21.0" />
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.20.0" />
+    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.21.0" />
   </ItemGroup>
 
   <ItemGroup>

src/DotRecast.Recast.Demo/Draw/GLCheckerTexture.cs

@@ -32,15 +32,18 @@ public class GLCheckerTexture
         _gl = gl;
     }
 
-    public void Release()
+    public unsafe void Release()
     {
         if (m_texId != 0)
         {
-            _gl.DeleteTextures(1, m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.DeleteTextures(1, p);
+            }
         }
     }
 
-    public void Bind()
+    public unsafe void Bind()
     {
         if (m_texId == 0)
         {
@@ -50,7 +53,11 @@ public class GLCheckerTexture
             uint TSIZE = 64;
             int[] data = new int[TSIZE * TSIZE];
 
-            _gl.GenTextures(1, out m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.GenTextures(1, p);
+            }
+
             _gl.BindTexture(GLEnum.Texture2D, m_texId);
 
             int level = 0;
@@ -70,8 +77,10 @@ public class GLCheckerTexture
                 level++;
             }
 
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, (uint)GLEnum.LinearMipmapNearest);
+            uint linearMipmapNearest = (uint)GLEnum.LinearMipmapNearest;
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, (uint)GLEnum.Linear);
+            uint linear = (uint)GLEnum.Linear;
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, &linearMipmapNearest);
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, &linear);
         }
         else
         {

src/DotRecast.Recast.Toolset/Builder/SoloNavMeshBuilder.cs

@@ -80,22 +80,7 @@ namespace DotRecast.Recast.Toolset.Builder
         {
             RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
             RcBuilder rcBuilder = new RcBuilder();
-            var result = rcBuilder.Build(geom, bcfg);
+            return rcBuilder.Build(geom, bcfg, keepInterResults);
-            if (!keepInterResults)
-            {
-                return new RcBuilderResult(
-                    result.TileX,
-                    result.TileZ,
-                    null,
-                    null,
-                    null,
-                    result.Mesh,
-                    result.MeshDetail,
-                    result.Context
-                );
-            }
-
-            return result;
         }
 
         public DtMeshData BuildMeshData(DemoInputGeomProvider geom,

src/DotRecast.Recast/RcBuilder.cs

@@ -132,30 +132,17 @@ namespace DotRecast.Recast
         public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx, int ty, RcAtomicInteger progress, int total, bool keepInterResults)
         {
             var bcfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty);
-            RcBuilderResult result = Build(geom, bcfg);
+            RcBuilderResult result = Build(geom, bcfg, keepInterResults);
             if (_progressListener != null)
             {
                 _progressListener.OnProgress(progress.IncrementAndGet(), total);
             }
 
-            if (!keepInterResults)
-            {
-                return new RcBuilderResult(
-                    result.TileX,
-                    result.TileZ,
-                    null,
-                    null,
-                    null,
-                    result.Mesh,
-                    result.MeshDetail,
-                    result.Context
-                );
-            }
 
             return result;
         }
 
-        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg)
+        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg, bool keepInterResults)
         {
             RcConfig cfg = bcfg.cfg;
             RcContext ctx = new RcContext();
@@ -163,10 +150,10 @@ namespace DotRecast.Recast
             // Step 1. Rasterize input polygon soup.
             //
             RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, bcfg);
-            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid);
+            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid, keepInterResults);
         }
 
-        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, bool keepInterResults)
         {
             FilterHeightfield(ctx, solid, cfg);
             RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
@@ -237,7 +224,17 @@ namespace DotRecast.Recast
             RcPolyMeshDetail dmesh = cfg.BuildMeshDetail
                 ? RcMeshDetails.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.DetailSampleDist, cfg.DetailSampleMaxError)
                 : null;
-            return new RcBuilderResult(tileX, tileZ, solid, chf, cset, pmesh, dmesh, ctx);
+
+            return new RcBuilderResult(
+                tileX,
+                tileZ,
+                keepInterResults ? solid : null,
+                keepInterResults ? chf : null,
+                keepInterResults ? cset : null,
+                pmesh,
+                dmesh,
+                ctx
+            );
         }
 
         /*

test/DotRecast.Core.Test/DotRecast.Core.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Buffers;
 using System.Collections.Generic;
+using System.Net.Sockets;
 using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using NUnit.Framework;
@@ -84,18 +85,73 @@ public class RcArrayBenchmarkTests
     [Test]
     public void TestBenchmarkArrays()
     {
-        var list = new List<(string title, long ticks)>();
+        var results = new List<(string title, long ticks)>();
-        list.Add(Bench("new int[len]", RoundForArray));
+        results.Add(Bench("new int[len]", RoundForArray));
-        list.Add(Bench("ArrayPool<int>.Shared.Rent(len)", RoundForPureRentArray));
+        results.Add(Bench("ArrayPool<int>.Shared.Rent(len)", RoundForPureRentArray));
-        list.Add(Bench("RcRentedArray.Rent<int>(len)", RoundForRcRentedArray));
+        results.Add(Bench("RcRentedArray.Rent<int>(len)", RoundForRcRentedArray));
-        list.Add(Bench("new RcStackArray512<int>()", RoundForRcStackArray));
+        results.Add(Bench("new RcStackArray512<int>()", RoundForRcStackArray));
-        list.Add(Bench("stackalloc int[len]", RoundForStackalloc));
+        results.Add(Bench("stackalloc int[len]", RoundForStackalloc));
 
-        list.Sort((x, y) => x.ticks.CompareTo(y.ticks));
+        results.Sort((x, y) => x.ticks.CompareTo(y.ticks));
 
-        foreach (var t in list)
+        foreach (var t in results)
         {
             Console.WriteLine($"{t.title} {t.ticks / (double)TimeSpan.TicksPerMillisecond} ms");
         }
     }
+
+    [Test]
+    public void TestSpanVsArray()
+    {
+        var r = new RcRand();
+        var list = new List<(long[] src, long[] dest)>();
+        for (int i = 0; i < 14; ++i)
+        {
+            var s = new long[(int)Math.Pow(2, i + 1)];
+            var d = new long[(int)Math.Pow(2, i + 1)];
+            for (int ii = 0; ii < s.Length; ++ii)
+            {
+                s[ii] = r.NextInt32();
+            }
+
+            list.Add((s, d));
+        }
+
+        var results = new List<(string title, long ticks)>();
+        for (int i = 0; i < list.Count; ++i)
+        {
+            var seq = i;
+
+            Array.Fill(list[seq].dest, 0);
+            var resultLong = Bench($"long[{list[seq].src.Length}]", _ =>
+            {
+                var v = list[seq];
+                RcArrays.Copy(v.src, 0, v.dest, 0, v.src.Length);
+            });
+
+
+            Array.Fill(list[seq].dest, 0);
+            var resultSpan = Bench($"Span<long[], {list[seq].src.Length}>", _ =>
+            {
+                var v = list[seq];
+                RcSpans.Copy<long>(v.src, 0, v.dest, 0, v.src.Length);
+            });
+
+
+            results.Add(resultLong);
+            results.Add(resultSpan);
+        }
+
+
+        int newLine = 0;
+        foreach (var t in results)
+        {
+            Console.WriteLine($"{t.title}: {t.ticks / (double)TimeSpan.TicksPerMillisecond} ms");
+            newLine += 1;
+            if (0 == (newLine % 2))
+            {
+                Console.WriteLine("");
+            }
+        }
+    }
 }

test/DotRecast.Detour.Crowd.Test/DotRecast.Detour.Crowd.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -72,7 +72,7 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
         RcPolyMesh m_pmesh = rcResult.Mesh;
         for (int i = 0; i < m_pmesh.npolys; ++i)
         {

test/DotRecast.Detour.Dynamic.Test/DotRecast.Detour.Dynamic.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Extras.Test/DotRecast.Detour.Extras.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Test/DotRecast.Detour.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs

@@ -72,7 +72,7 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
         RcPolyMesh m_pmesh = rcResult.Mesh;
         for (int i = 0; i < m_pmesh.npolys; ++i)
         {

test/DotRecast.Detour.Test/TestDetourBuilder.cs

@@ -27,7 +27,7 @@ public class TestDetourBuilder : DetourBuilder
         float agentMaxClimb, int x, int y, bool applyRecastDemoFlags)
     {
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig);
+        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig, false);
         RcPolyMesh pmesh = rcResult.Mesh;
 
         if (applyRecastDemoFlags)

test/DotRecast.Detour.TileCache.Test/DotRecast.Detour.TileCache.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/DotRecast.Recast.Test.csproj

@@ -11,7 +11,7 @@
         <PackageReference Include="Moq" Version="4.20.70" />
         <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.2.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -69,27 +69,27 @@ public class RecastTileMeshTest
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 7, 8);
-        RcBuilderResult rcResult = builder.Build(geom, bcfg);
+        RcBuilderResult rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 6, 9);
-        rcResult = builder.Build(geom, bcfg);
+        rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 9);
-        rcResult = builder.Build(geom, bcfg);
+        rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 4, 3);
-        rcResult = builder.Build(geom, bcfg);
+        rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 8);
-        rcResult = builder.Build(geom, bcfg);
+        rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 0, 8);
-        rcResult = builder.Build(geom, bcfg);
+        rcResult = builder.Build(geom, bcfg, false);
         Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
         Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
     }