src/DotRecast.Core/Buffers/RcRentedArray.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Buffers;
 using System.Runtime.CompilerServices;
 

src/DotRecast.Core/Collections/RcSortedQueue.cs

@@ -27,12 +27,12 @@ namespace DotRecast.Core.Collections
     {
         private bool _dirty;
         private readonly List<T> _items;
-        private readonly Comparison<T> _comparison;
+        private readonly Comparer<T> _comparer;
 
         public RcSortedQueue(Comparison<T> comp)
         {
             _items = new List<T>();
-            _comparison = (x, y) => comp(x, y) * -1;
+            _comparer = Comparer<T>.Create((x, y) => comp.Invoke(x, y) * -1);
         }
 
         public int Count()
@@ -55,7 +55,7 @@ namespace DotRecast.Core.Collections
         {
             if (_dirty)
             {
-                _items.Sort(_comparison); // reverse
+                _items.Sort(_comparer); // reverse
                 _dirty = false;
             }
         }

src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs

@@ -52,12 +52,25 @@ namespace DotRecast.Detour.Extras.Jumplink
 
             RcVec3f halfExtents = new RcVec3f { X = cs, Y = heightRange, Z = cs };
             float maxHeight = pt.Y + heightRange;
-            var query = new DtHeightSamplePolyQuery(navMeshQuery, pt, pt.Y, maxHeight);
+            RcAtomicBoolean found = new RcAtomicBoolean();
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, ref query);
+            RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
 
-            if (query.Found)
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs) =>
             {
-                height = query.MinHeight;
+                var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
+                if (status.Succeeded())
+                {
+                    if (h > minHeight.Get() && h < maxHeight)
+                    {
+                        minHeight.Exchange(h);
+                        found.Set(true);
+                    }
+                }
+            }));
+
+            if (found.Get())
+            {
+                height = minHeight.Get();
                 return true;
             }
 

src/DotRecast.Detour/DtCallbackPolyQuery.cs

@@ -2,7 +2,7 @@ using System;
 
 namespace DotRecast.Detour
 {
-    public struct DtCallbackPolyQuery : IDtPolyQuery
+    public class DtCallbackPolyQuery : IDtPolyQuery
     {
         private readonly Action<DtMeshTile, DtPoly, long> _callback;
 
@@ -11,7 +11,7 @@ namespace DotRecast.Detour
             _callback = callback;
         }
 
-        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
             for (int i = 0; i < count; ++i)
             {

src/DotRecast.Detour/DtCollectPolysQuery.cs

@@ -26,7 +26,7 @@ namespace DotRecast.Detour
             return m_overflow;
         }
 
-        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
             int numLeft = m_maxPolys - m_numCollected;
             int toCopy = count;

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -3,7 +3,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    public struct DtFindNearestPolyQuery : IDtPolyQuery
+    public class DtFindNearestPolyQuery : IDtPolyQuery
     {
         private readonly DtNavMeshQuery _query;
         private readonly RcVec3f _center;
@@ -18,12 +18,9 @@ namespace DotRecast.Detour
             _center = center;
             _nearestDistanceSqr = float.MaxValue;
             _nearestPoint = center;
-
-            _nearestRef = default;
-            _overPoly = default;
         }
 
-        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
         {
             for (int i = 0; i < count; ++i)
             {

src/DotRecast.Detour/DtHeightSamplePolyQuery.cs

@@ -1,45 +0,0 @@
-using System;
-using DotRecast.Core;
-using DotRecast.Core.Numerics;
-
-namespace DotRecast.Detour
-{
-    public struct DtHeightSamplePolyQuery : IDtPolyQuery
-    {
-        private readonly DtNavMeshQuery _navMeshQuery;
-        private readonly RcVec3f _pt;
-        private readonly float _maxHeight;
-        public float MinHeight { get; private set; }
-        public bool Found { get; private set; }
-
-        public DtHeightSamplePolyQuery(DtNavMeshQuery navMeshQuery, RcVec3f pt, float minHeight, float maxHeight)
-        {
-            _navMeshQuery = navMeshQuery;
-            _pt = pt;
-            MinHeight = minHeight;
-            _maxHeight = maxHeight;
-            Found = default;
-        }
-
-        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
-        {
-            for (int i = 0; i < count; i++)
-            {
-                ProcessSingle(refs[i]);
-            }
-        }
-
-        private void ProcessSingle(long refs)
-        {
-            var status = _navMeshQuery.GetPolyHeight(refs, _pt, out var h);
-            if (!status.Succeeded())
-                return;
-
-            if (!(h > MinHeight) || !(h < _maxHeight)) 
-                return;
-
-            MinHeight = h;
-            Found = true;
-        }
-    }
-}

src/DotRecast.Detour/DtNavMesh.cs

@@ -1365,11 +1365,6 @@ namespace DotRecast.Detour
         }
 
         public int GetTilesAt(int x, int y, DtMeshTile[] tiles, int maxTiles)
-        {
-            return GetTilesAt(x, y, (Span<DtMeshTile>)tiles, maxTiles);
-        }
-
-        public int GetTilesAt(int x, int y, Span<DtMeshTile> tiles, int maxTiles)
         {
             int n = 0;
 

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -589,7 +589,7 @@ namespace DotRecast.Detour
 
             // Get nearby polygons from proximity grid.
             DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
-            DtStatus status = QueryPolygons(center, halfExtents, filter, ref query);
+            DtStatus status = QueryPolygons(center, halfExtents, filter, query);
             if (status.Failed())
             {
                 return status;
@@ -603,13 +603,11 @@ namespace DotRecast.Detour
         }
 
         /// Queries polygons within a tile.
-        protected void QueryPolygonsInTile<TQuery>(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, ref TQuery query)
+        protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query)
-            where TQuery : IDtPolyQuery
         {
             const int batchSize = 32;
             Span<long> polyRefs = stackalloc long[batchSize];
-            using RcRentedArray<DtPoly> polysRent = RcRentedArray.Rent<DtPoly>(batchSize);
+            DtPoly[] polys = new DtPoly[batchSize];
-            Span<DtPoly> polys = polysRent.AsSpan();
             int n = 0;
 
             if (tile.data.bvTree != null)
@@ -760,7 +758,7 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
 
             DtCollectPolysQuery collector = new DtCollectPolysQuery(polys, maxPolys);
-            DtStatus status = QueryPolygons(center, halfExtents, filter, ref collector);
+            DtStatus status = QueryPolygons(center, halfExtents, filter, collector);
             if (status.Failed())
                 return status;
 
@@ -782,8 +780,7 @@ namespace DotRecast.Detour
         ///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
         ///  @param[in]		filter		The polygon filter to apply to the query.
         ///  @param[in]		query		The query. Polygons found will be batched together and passed to this query.
-        public DtStatus QueryPolygons<TQuery>(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, ref TQuery query)
+        public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, IDtPolyQuery query)
-            where TQuery : IDtPolyQuery
         {
             if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter)
             {
@@ -799,8 +796,7 @@ namespace DotRecast.Detour
             m_nav.CalcTileLoc(bmax, out var maxx, out var maxy);
 
             const int MAX_NEIS = 32;
-            using RcRentedArray<DtMeshTile> neisRent = RcRentedArray.Rent<DtMeshTile>(MAX_NEIS);
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
-            Span<DtMeshTile> neis = neisRent.AsSpan();
 
             for (int y = miny; y <= maxy; ++y)
             {
@@ -809,7 +805,7 @@ namespace DotRecast.Detour
                     int nneis = m_nav.GetTilesAt(x, y, neis, MAX_NEIS);
                     for (int j = 0; j < nneis; ++j)
                     {
-                        QueryPolygonsInTile(neis[j], bmin, bmax, filter, ref query);
+                        QueryPolygonsInTile(neis[j], bmin, bmax, filter, query);
                     }
                 }
             }

src/DotRecast.Detour/IDtPolyQuery.cs

@@ -9,6 +9,6 @@ namespace DotRecast.Detour
     {
         /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
         /// This can be called multiple times for a single query.
-        void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count);
+        void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count);
     }
 }