reuse collection

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -303,7 +303,8 @@ namespace DotRecast.Detour.Crowd
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, out var visited);
+            var visited = new List<long>();
+            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
                 m_path = PathUtils.MergeCorridorStartMoved(m_path, visited);
@@ -342,7 +343,8 @@ namespace DotRecast.Detour.Crowd
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, out var visited);
+            var visited = new List<long>();
+            var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
                 m_path = PathUtils.MergeCorridorEndMoved(m_path, visited);

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -1798,10 +1798,12 @@ namespace DotRecast.Detour
         /// @returns The status flags for the query.
         public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos,
             IDtQueryFilter filter,
-            out RcVec3f resultPos, out List<long> visited)
+            out RcVec3f resultPos, ref List<long> visited)
         {
             resultPos = RcVec3f.Zero;
-            visited = new List<long>();
+            
+            if (null != visited)
+                visited.Clear();
 
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(startPos)
@@ -2452,12 +2454,14 @@ namespace DotRecast.Detour
         ///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
         /// @returns The status flags for the query.
         public DtStatus FindPolysAroundCircle(long startRef, RcVec3f centerPos, float radius, IDtQueryFilter filter,
-            out List<long> resultRef, out List<long> resultParent, out List<float> resultCost)
+            ref List<long> resultRef, ref List<long> resultParent, ref List<float> resultCost)
         {
-            // TODO : check performance 
+            if (null != resultRef)
-            resultRef = new List<long>();
+            {
-            resultParent = new List<long>();
+                resultRef.Clear();
-            resultCost = new List<float>();
+                resultParent.Clear();
+                resultCost.Clear();
+            }
 
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !RcVec3f.IsFinite(centerPos) || radius < 0

src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs

@@ -24,15 +24,15 @@ public class TestNavmeshTool : IRcTool
     private RcVec3f m_epos;
     private long m_startRef;
     private long m_endRef;
-    
+
     private readonly DtQueryDefaultFilter m_filter;
     private readonly RcVec3f m_polyPickExt = RcVec3f.Of(2, 4, 2);
-    
+
     // for hit
     private RcVec3f m_hitPos;
     private RcVec3f m_hitNormal;
     private bool m_hitResult;
-    
+
     private float m_distanceToWall;
     private List<StraightPathItem> m_straightPath;
     private List<long> m_polys;
@@ -281,7 +281,12 @@ public class TestNavmeshTool : IRcTool
                 float dx = m_epos.x - m_spos.x;
                 float dz = m_epos.z - m_spos.z;
                 float dist = (float)Math.Sqrt(dx * dx + dz * dz);
-                var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, out var refs, out var parentRefs, out var costs);
+                
+                List<long> refs = new();
+                List<long> parentRefs = new();
+                List<float> costs = new();
+
+                var status = m_navQuery.FindPolysAroundCircle(m_startRef, m_spos, dist, m_filter, ref refs, ref parentRefs, ref costs);
                 if (status.Succeeded())
                 {
                     m_polys = refs;

src/DotRecast.Recast.DemoTool/Sample.cs

@@ -18,6 +18,7 @@ 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 DotRecast.Detour;
 using DotRecast.Recast.DemoTool.Geom;
@@ -90,7 +91,38 @@ namespace DotRecast.Recast.DemoTool
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);
+
             _changed = true;
+            
+            // // by update
+            // _inputGeom.ClearConvexVolumes();
+            // _inputGeom.RemoveOffMeshConnections(x => true);
+            //
+            // if (null != _navMesh && 0 < _navMesh.GetTileCount())
+            // {
+            //     for (int ti = 0; ti < _navMesh.GetTileCount(); ++ti)
+            //     {
+            //         var tile = _navMesh.GetTile(ti);
+            //         for (int pi = 0; pi < tile.data.polys.Length; ++pi)
+            //         {
+            //             var polyType = tile.data.polys[pi].GetPolyType();
+            //             var polyArea= tile.data.polys[pi].GetArea();
+            //
+            //             if (0 != polyType)
+            //             {
+            //                 int a = 3;
+            //             }
+            //
+            //             if (0 != polyArea)
+            //             {
+            //                 int b = 3;
+            //             }
+            //             
+            //             Console.WriteLine($"tileIdx({ti}) polyIdx({pi}) polyType({polyType} polyArea({polyArea})");
+            //         }
+            //         
+            //     }
+            // }
         }
     }
 }

src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs

@@ -60,6 +60,7 @@ namespace DotRecast.Recast.DemoTool.Tools
 
             smoothPath.Clear();
             smoothPath.Add(iterPos);
+            var visited = new List<long>();
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
@@ -96,7 +97,7 @@ namespace DotRecast.Recast.DemoTool.Tools
                 RcVec3f moveTgt = RcVec3f.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, out var visited);
+                navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited);
 
                 iterPos = result;
 

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -16,8 +16,8 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System.Collections.Generic;
 using DotRecast.Core;
-
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
@@ -102,13 +102,16 @@ public class FindPolysAroundCircleTest : AbstractDetourTest
     public void TestFindPolysAroundCircle()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
+        var refs = new List<long>();
+        var parentRefs = new List<long>();
+        var costs = new List<float>();
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
             RcVec3f startPos = startPoss[i];
-            var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, out var refs, out var parentRefs, out var costs);
+            var status = query.FindPolysAroundCircle(startRef, startPos, 7.5f, filter, ref refs, ref parentRefs, ref costs);
             Assert.That(status.Succeeded(), Is.True);
-            
+
             Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
             for (int v = 0; v < REFS[i].Length; v++)
             {

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -16,6 +16,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System.Collections.Generic;
 using DotRecast.Core;
 
 using NUnit.Framework;
@@ -69,12 +70,13 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
     public void TestMoveAlongSurface()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
+        var visited = new List<long>();
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
             RcVec3f startPos = startPoss[i];
             RcVec3f endPos = endPoss[i];
-            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, out var visited);
+            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
             Assert.That(status.Succeeded(), Is.True);
             
             for (int v = 0; v < 3; v++)