added DtNodePool.GetNode, FindNode, FindNodes tests

CHANGELOG.md

@@ -7,8 +7,11 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased] - yyyy-mm-dd
 
 ### Added
-
+- Added DtNodePool.GetNode, FindNode, FindNodes tests
+ 
 ### Fixed
+- Fixed SOH issue in dtNavMeshQuery.Raycast
+- Fixed SOH issue in DtProximityGrid.QueryItems
 
 ### Changed
 

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -3400,15 +3400,18 @@ namespace DotRecast.Detour
             return m_nav;
         }
 
-        /**
+        /// Gets a path from the explored nodes in the previous search.
-     * Gets a path from the explored nodes in the previous search.
+        ///  @param[in]		endRef		The reference id of the end polygon.
-     *
+        ///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.)
-     * @param endRef
+        ///  							[(polyRef) * @p pathCount]
-     *            The reference id of the end polygon.
+        ///  @param[out]	pathCount	The number of polygons returned in the @p path array.
-     * @returns An ordered list of polygon references representing the path. (Start to end.)
+        ///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold. [Limit: >= 0]
-     * @remarks The result of this function depends on the state of the query object. For that reason it should only be
+        ///  @returns		The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if
-     *          used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
+        ///  				@p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL
-     */
+        ///  				if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path.
+        ///  				Otherwise returns DT_SUCCESS.
+        ///  @remarks		The result of this function depends on the state of the query object. For that reason it should only
+        ///  				be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
         public DtStatus GetPathFromDijkstraSearch(long endRef, ref List<long> path)
         {
             if (!m_nav.IsValidPolyRef(endRef) || null == path)
@@ -3418,18 +3421,14 @@ namespace DotRecast.Detour
 
             path.Clear();
 
-            List<DtNode> nodes = m_nodePool.FindNodes(endRef);
+            if (m_nodePool.FindNodes(endRef, out var endNodes) != 1
-            if (nodes.Count != 1)
+                || (endNodes[0].flags & DtNodeFlags.DT_NODE_CLOSED) == 0)
-            {
-                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
-            }
-
-            DtNode endNode = nodes[0];
-            if ((endNode.flags & DtNodeFlags.DT_NODE_CLOSED) == 0)
             {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
+            DtNode endNode = endNodes[0];
+            
             return GetPathToNode(endNode, ref path);
         }
 
@@ -3462,10 +3461,11 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
-        /**
+        /// @par
-     * The closed list is the list of polygons that were fully evaluated during the last navigation graph search. (A* or
+        ///
-     * Dijkstra)
+        /// The closed list is the list of polygons that were fully evaluated during 
-     */
+        /// the last navigation graph search. (A* or Dijkstra)
+        /// 
         public bool IsInClosedList(long refs)
         {
             if (m_nodePool == null)
@@ -3473,9 +3473,10 @@ namespace DotRecast.Detour
                 return false;
             }
 
-            foreach (DtNode n in m_nodePool.FindNodes(refs))
+            int n = m_nodePool.FindNodes(refs, out var nodes);
+            for (int i = 0; i < n; ++i)
             {
-                if ((n.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
+                if ((nodes[i].flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
                 {
                     return true;
                 }

src/DotRecast.Detour/DtNodePool.cs

@@ -37,22 +37,20 @@ namespace DotRecast.Detour
             m_map.Clear();
         }
 
-        public List<DtNode> FindNodes(long id)
+        public int FindNodes(long id, out List<DtNode> nodes)
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
+            var hasNode = m_map.TryGetValue(id, out nodes);
-            ;
+            if (hasNode)
-            if (nodes == null)
             {
-                nodes = new List<DtNode>();
+                return nodes.Count;
             }
 
-            return nodes;
+            return 0;
         }
 
         public DtNode FindNode(long id)
         {
             var hasNode = m_map.TryGetValue(id, out var nodes);
-            ;
             if (nodes != null && 0 != nodes.Count)
             {
                 return nodes[0];

test/DotRecast.Detour.Test/DtNodePoolTest.cs

@@ -0,0 +1,62 @@
+using System.Collections.Immutable;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class DtNodePoolTest
+{
+    [Test]
+    public void TestGetNode()
+    {
+        var pool = new DtNodePool();
+
+        var node1St = pool.GetNode(0);
+        var node2St = pool.GetNode(0);
+        Assert.That(node1St, Is.SameAs(node2St));
+
+        node1St.state = 1;
+        var node3St = pool.GetNode(0);
+        Assert.That(node1St, Is.Not.SameAs(node3St));
+    }
+
+    [Test]
+    public void TestFindNode()
+    {
+        var pool = new DtNodePool();
+
+        var counts = ImmutableArray.Create(2, 3, 5);
+
+        // get and create
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            for (int ii = 0; ii < count; ++ii)
+            {
+                var node = pool.GetNode(i);
+                node.state = ii + 1;
+            }
+        }
+
+        // check count
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            var n = pool.FindNodes(i, out var nodes);
+            Assert.That(n, Is.EqualTo(count));
+            Assert.That(nodes, Has.Count.EqualTo(count));
+
+            var node = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node));
+            
+            var node2 = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node2));
+        }
+
+        // check other count
+        {
+            var n = pool.FindNodes(4, out var nodes);
+            Assert.That(n, Is.EqualTo(0));
+            Assert.That(nodes, Is.Null);
+        }
+    }
+}