Merge branch 'refs/heads/pr/fix-small-object-heap-issue'

# Conflicts:
#	src/DotRecast.Detour/DtNavMeshQuery.cs

.editorconfig

@@ -20,6 +20,7 @@ dotnet_sort_system_directives_first = true
 csharp_preserve_single_line_statements = false
 csharp_preserve_single_line_blocks = true
 
-#
+# ReSharper properties
+resharper_csharp_wrap_lines = false
 resharper_csharp_space_before_trailing_comment = true
 resharper_csharp_space_after_operator_keyword = true

src/DotRecast.Core/IRcRand.cs

@@ -3,5 +3,7 @@
     public interface IRcRand
     {
         float Next();
+        double NextDouble();
+        int NextInt32();
     }
 }

src/DotRecast.Core/RcRand.cs

@@ -6,9 +6,13 @@ namespace DotRecast.Core
     {
         private readonly Random _r;
 
-        public RcRand()
+        public RcRand() : this(new Random())
         {
-            _r = new Random();
+        }
+
+        public RcRand(Random r)
+        {
+            _r = r;
         }
 
         public RcRand(long seed)
@@ -21,6 +25,11 @@ namespace DotRecast.Core
             return (float)_r.NextDouble();
         }
 
+        public double NextDouble()
+        {
+            return _r.NextDouble();
+        }
+
         public int NextInt32()
         {
             return _r.Next();

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -22,6 +22,7 @@ using System;
 using System.Collections.Generic;
 using System.Threading.Tasks;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs

@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Numerics;
 
 
@@ -402,7 +403,7 @@ namespace DotRecast.Detour.Crowd
                 debug.Reset();
 
             // Build sampling pattern aligned to desired velocity.
-            float[] pat = new float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
+            using var pat = RcRentedArray.Rent<float>((DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2);
             int npat = 0;
 
             int ndivs = m_params.adaptiveDivs;

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -40,7 +40,7 @@ namespace DotRecast.Detour.Dynamic
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
         private DtNavMesh _navMesh;
-        private bool dirty = true;
+        private bool _dirty = true;
 
         public DtDynamicNavMesh(DtVoxelFile voxelFile)
         {
@@ -105,29 +105,6 @@ namespace DotRecast.Detour.Dynamic
             updateQueue.Add(new DtDynamicTileColliderRemovalJob(colliderId, GetTilesByCollider(colliderId)));
         }
 
-        /**
-     * Perform full build of the nav mesh
-     */
-        public void Build()
-        {
-            ProcessQueue();
-            Rebuild(_tiles.Values);
-        }
-
-        /**
-     * Perform incremental update of the nav mesh
-     */
-        public bool Update()
-        {
-            return Rebuild(ProcessQueue());
-        }
-
-        private bool Rebuild(ICollection<DtDynamicTile> stream)
-        {
-            foreach (var dynamicTile in stream)
-                Rebuild(dynamicTile);
-            return UpdateNavMesh();
-        }
 
         private HashSet<DtDynamicTile> ProcessQueue()
         {
@@ -159,27 +136,49 @@ namespace DotRecast.Detour.Dynamic
             }
         }
 
-        /**
+        // Perform full build of the navmesh
-     * Perform full build concurrently using the given {@link ExecutorService}
+        public void Build()
-     */
+        {
-        public Task<bool> Build(TaskFactory executor)
+            ProcessQueue();
+            Rebuild(_tiles.Values);
+        }
+
+        // Perform full build concurrently using the given {@link ExecutorService}
+        public bool Build(TaskFactory executor)
         {
             ProcessQueue();
             return Rebuild(_tiles.Values, executor);
         }
 
-        /**
+
-     * Perform incremental update concurrently using the given {@link ExecutorService}
+        // Perform incremental update of the navmesh
-     */
+        public bool Update()
-        public Task<bool> Update(TaskFactory executor)
+        {
+            return Rebuild(ProcessQueue());
+        }
+
+        // Perform incremental update concurrently using the given {@link ExecutorService}
+        public bool Update(TaskFactory executor)
         {
             return Rebuild(ProcessQueue(), executor);
         }
 
-        private Task<bool> Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        private bool Rebuild(ICollection<DtDynamicTile> tiles)
         {
-            var tasks = tiles.Select(tile => executor.StartNew(() => Rebuild(tile))).ToArray();
+            foreach (var tile in tiles)
-            return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
+                Rebuild(tile);
+            
+            return UpdateNavMesh();
+        }
+
+        private bool Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        {
+            var tasks = tiles
+                .Select(tile => executor.StartNew(() => Rebuild(tile)))
+                .ToArray();
+
+            Task.WaitAll(tasks);
+            return UpdateNavMesh();
         }
 
         private ICollection<DtDynamicTile> GetTiles(float[] bounds)
@@ -218,19 +217,19 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            dirty = dirty | tile.Build(builder, config, _context);
+            _dirty = _dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()
         {
-            if (dirty)
+            if (_dirty)
             {
                 DtNavMesh navMesh = new DtNavMesh(navMeshParams, MAX_VERTS_PER_POLY);
                 foreach (var t in _tiles.Values)
                     t.AddTo(navMesh);
 
-                this._navMesh = navMesh;
+                _navMesh = navMesh;
-                dirty = false;
+                _dirty = false;
                 return true;
             }
 

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -132,8 +132,8 @@ namespace DotRecast.Detour.Dynamic
         private DtNavMeshCreateParams NavMeshCreateParams(int tilex, int tileZ, float cellSize, float cellHeight,
             DtDynamicNavMeshConfig config, RcBuilderResult rcResult)
         {
-            RcPolyMesh m_pmesh = rcResult.GetMesh();
+            RcPolyMesh m_pmesh = rcResult.Mesh;
-            RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+            RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             for (int i = 0; i < m_pmesh.npolys; ++i)
             {

src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs

@@ -109,13 +109,13 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RcBuilderResult r in results)
             {
-                f.tiles.Add(new DtVoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
+                f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
-                f.bounds[0] = Math.Min(f.bounds[0], r.GetSolidHeightfield().bmin.X);
+                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X);
-                f.bounds[1] = Math.Min(f.bounds[1], r.GetSolidHeightfield().bmin.Y);
+                f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], r.GetSolidHeightfield().bmin.Z);
+                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], r.GetSolidHeightfield().bmax.X);
+                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X);
-                f.bounds[4] = Math.Max(f.bounds[4], r.GetSolidHeightfield().bmax.Y);
+                f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], r.GetSolidHeightfield().bmax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z);
             }
 
             return f;

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

@@ -21,7 +21,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         public JumpLinkBuilder(IList<RcBuilderResult> results)
         {
             this.results = results;
-            edges = results.Select(r => edgeExtractor.ExtractEdges(r.GetMesh())).ToList();
+            edges = results.Select(r => edgeExtractor.ExtractEdges(r.Mesh)).ToList();
         }
 
         public List<JumpLink> Build(JumpLinkBuilderConfig acfg, JumpLinkType type)
@@ -43,7 +43,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             EdgeSampler es = edgeSamplerFactory.Get(acfg, type, edge);
             groundSampler.Sample(acfg, result, es);
-            trajectorySampler.Sample(acfg, result.GetSolidHeightfield(), es);
+            trajectorySampler.Sample(acfg, result.SolidHeightfiled, es);
             JumpSegment[] jumpSegments = jumpSegmentBuilder.Build(acfg, es);
             return BuildJumpLinks(acfg, es, jumpSegments);
         }

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

@@ -16,25 +16,25 @@ namespace DotRecast.Detour.Extras.Jumplink
         private DtNavMeshQuery CreateNavMesh(RcBuilderResult r, float agentRadius, float agentHeight, float agentClimb)
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-            option.verts = r.GetMesh().verts;
+            option.verts = r.Mesh.verts;
-            option.vertCount = r.GetMesh().nverts;
+            option.vertCount = r.Mesh.nverts;
-            option.polys = r.GetMesh().polys;
+            option.polys = r.Mesh.polys;
-            option.polyAreas = r.GetMesh().areas;
+            option.polyAreas = r.Mesh.areas;
-            option.polyFlags = r.GetMesh().flags;
+            option.polyFlags = r.Mesh.flags;
-            option.polyCount = r.GetMesh().npolys;
+            option.polyCount = r.Mesh.npolys;
-            option.nvp = r.GetMesh().nvp;
+            option.nvp = r.Mesh.nvp;
-            option.detailMeshes = r.GetMeshDetail().meshes;
+            option.detailMeshes = r.MeshDetail.meshes;
-            option.detailVerts = r.GetMeshDetail().verts;
+            option.detailVerts = r.MeshDetail.verts;
-            option.detailVertsCount = r.GetMeshDetail().nverts;
+            option.detailVertsCount = r.MeshDetail.nverts;
-            option.detailTris = r.GetMeshDetail().tris;
+            option.detailTris = r.MeshDetail.tris;
-            option.detailTriCount = r.GetMeshDetail().ntris;
+            option.detailTriCount = r.MeshDetail.ntris;
             option.walkableRadius = agentRadius;
             option.walkableHeight = agentHeight;
             option.walkableClimb = agentClimb;
-            option.bmin = r.GetMesh().bmin;
+            option.bmin = r.Mesh.bmin;
-            option.bmax = r.GetMesh().bmax;
+            option.bmax = r.Mesh.bmax;
-            option.cs = r.GetMesh().cs;
+            option.cs = r.Mesh.cs;
-            option.ch = r.GetMesh().ch;
+            option.ch = r.Mesh.ch;
             option.buildBvTree = true;
             return new DtNavMeshQuery(new DtNavMesh(DtNavMeshBuilder.CreateNavMeshData(option), option.nvp, 0));
         }

src/DotRecast.Detour/DtNavMesh.cs

@@ -21,6 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
@@ -358,8 +359,8 @@ namespace DotRecast.Detour
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
                 // Calculate quantized box
-                int[] bmin = new int[3];
+                Span<int> bmin = stackalloc int[3];
-                int[] bmax = new int[3];
+                Span<int> bmax = stackalloc int[3];
                 // dtClamp query box to world box.
                 float minx = Math.Clamp(qmin.X, tbmin.X, tbmax.X) - tbmin.X;
                 float miny = Math.Clamp(qmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
@@ -1246,14 +1247,14 @@ namespace DotRecast.Detour
 
             int ip = poly.index;
 
-            float[] verts = new float[m_maxVertPerPoly * 3];
+            using var verts = RcRentedArray.Rent<float>(m_maxVertPerPoly * 3);
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
+                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts.AsArray(), i * 3, 3);
             }
 
-            if (!DtUtils.PointInPolygon(pos, verts, nv))
+            if (!DtUtils.PointInPolygon(pos, verts.AsArray(), nv))
             {
                 return false;
             }

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -21,6 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
@@ -41,9 +42,9 @@ namespace DotRecast.Detour
         public DtNavMeshQuery(DtNavMesh nav)
         {
             m_nav = nav;
-            m_tinyNodePool = new DtNodePool();
             m_nodePool = new DtNodePool();
             m_openList = new DtNodeQueue();
+            m_tinyNodePool = new DtNodePool();
         }
 
         /// Returns random location on navmesh.
@@ -137,18 +138,18 @@ namespace DotRecast.Detour
             }
 
             // Randomly pick point on polygon.
-            float[] verts = new float[3 * m_nav.GetMaxVertsPerPoly()];
+            using var verts = RcRentedArray.Rent<float>(3 * m_nav.GetMaxVertsPerPoly());
-            float[] areas = new float[m_nav.GetMaxVertsPerPoly()];
+            using var areas = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
-            RcArrays.Copy(tile.data.verts, poly.verts[0] * 3, verts, 0, 3);
+            RcArrays.Copy(tile.data.verts, poly.verts[0] * 3, verts.AsArray(), 0, 3);
             for (int j = 1; j < poly.vertCount; ++j)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[j] * 3, verts, j * 3, 3);
+                RcArrays.Copy(tile.data.verts, poly.verts[j] * 3, verts.AsArray(), j * 3, 3);
             }
 
             float s = frand.Next();
             float t = frand.Next();
 
-            var pt = DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
+            var pt = DtUtils.RandomPointInConvexPoly(verts.AsArray(), poly.vertCount, areas.AsArray(), s, t);
             ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
 
             randomRef = polyRef;
@@ -386,8 +387,8 @@ namespace DotRecast.Detour
             float s = frand.Next();
             float t = frand.Next();
 
-            float[] areas = new float[randomPolyVerts.Length / 3];
+            using var areas = RcRentedArray.Rent<float>(randomPolyVerts.Length / 3);
-            RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
+            RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas.AsArray(), s, t);
             ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
 
             randomRef = randomPolyRef;
@@ -457,16 +458,16 @@ namespace DotRecast.Detour
             }
 
             // Collect vertices.
-            float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            using var verts = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
-            float[] edged = new float[m_nav.GetMaxVertsPerPoly()];
+            using var edged = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
-            float[] edget = new float[m_nav.GetMaxVertsPerPoly()];
+            using var edget = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
-                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
+                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts.AsArray(), i * 3, 3);
             }
 
-            if (DtUtils.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
+            if (DtUtils.DistancePtPolyEdgesSqr(pos, verts.AsArray(), nv, edged.AsArray(), edget.AsArray()))
             {
                 closest = pos;
             }
@@ -486,7 +487,7 @@ namespace DotRecast.Detour
 
                 int va = imin * 3;
                 int vb = ((imin + 1) % nv) * 3;
-                closest = RcVecUtils.Lerp(verts, va, vb, edget[imin]);
+                closest = RcVecUtils.Lerp(verts.AsArray(), va, vb, edget[imin]);
             }
 
             return DtStatus.DT_SUCCESS;
@@ -583,8 +584,8 @@ namespace DotRecast.Detour
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
                 // Calculate quantized box
-                int[] bmin = new int[3];
+                Span<int> bmin = stackalloc int[3];
-                int[] bmax = new int[3];
+                Span<int> bmax = stackalloc int[3];
                 // dtClamp query box to world box.
                 float minx = Math.Clamp(qmin.X, tbmin.X, tbmax.X) - tbmin.X;
                 float miny = Math.Clamp(qmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
@@ -1793,7 +1794,9 @@ namespace DotRecast.Detour
             resultPos = RcVec3f.Zero;
 
             if (null != visited)
+            {
                 visited.Clear();
+            }
 
             // Validate input
             if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite()
@@ -1822,7 +1825,10 @@ namespace DotRecast.Detour
             var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f);
             float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f);
 
-            float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            using var verts = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
+
+            const int MAX_NEIS = 8;
+            Span<long> neis = stackalloc long[MAX_NEIS];
 
             while (0 < stack.Count)
             {
@@ -1839,11 +1845,11 @@ namespace DotRecast.Detour
                 int nverts = curPoly.vertCount;
                 for (int i = 0; i < nverts; ++i)
                 {
-                    RcArrays.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts, i * 3, 3);
+                    RcArrays.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts.AsArray(), i * 3, 3);
                 }
 
                 // If target is inside the poly, stop search.
-                if (DtUtils.PointInPolygon(endPos, verts, nverts))
+                if (DtUtils.PointInPolygon(endPos, verts.AsArray(), nverts))
                 {
                     bestNode = curNode;
                     bestPos = endPos;
@@ -1854,9 +1860,7 @@ namespace DotRecast.Detour
                 for (int i = 0, j = curPoly.vertCount - 1; i < curPoly.vertCount; j = i++)
                 {
                     // Find links to neighbours.
-                    int MAX_NEIS = 8;
                     int nneis = 0;
-                    long[] neis = new long[MAX_NEIS];
 
                     if ((curPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
                     {
@@ -1896,11 +1900,11 @@ namespace DotRecast.Detour
                         // Wall edge, calc distance.
                         int vj = j * 3;
                         int vi = i * 3;
-                        var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
+                        var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts.AsArray(), vj, vi, out var tseg);
                         if (distSqr < bestDist)
                         {
                             // Update nearest distance.
-                            bestPos = RcVecUtils.Lerp(verts, vj, vi, tseg);
+                            bestPos = RcVecUtils.Lerp(verts.AsArray(), vj, vi, tseg);
                             bestDist = distSqr;
                             bestNode = curNode;
                         }
@@ -1920,7 +1924,7 @@ namespace DotRecast.Detour
                             // TODO: Maybe should use GetPortalPoints(), but this one is way faster.
                             int vj = j * 3;
                             int vi = i * 3;
-                            var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
+                            var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts.AsArray(), vj, vi, out var _);
                             if (distSqr > searchRadSqr)
                             {
                                 continue;
@@ -2244,7 +2248,7 @@ namespace DotRecast.Detour
             hit.path.Clear();
             hit.pathCost = 0;
 
-            RcVec3f[] verts = new RcVec3f[m_nav.GetMaxVertsPerPoly() + 1];
+            using var verts = RcRentedArray.Rent<RcVec3f>(m_nav.GetMaxVertsPerPoly() + 1);
 
             RcVec3f curPos = RcVec3f.Zero;
             RcVec3f lastPos = RcVec3f.Zero;
@@ -2278,7 +2282,7 @@ namespace DotRecast.Detour
                     nv++;
                 }
 
-                bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax);
+                bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts.AsArray(), nv, out var tmin, out var tmax, out var segMin, out var segMax);
                 if (!intersects)
                 {
                     // Could not hit the polygon, keep the old t and report hit.
@@ -2873,8 +2877,8 @@ namespace DotRecast.Detour
 
             float radiusSqr = RcMath.Sqr(radius);
 
-            float[] pa = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            using var pa = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
-            float[] pb = new float[m_nav.GetMaxVertsPerPoly() * 3];
+            using var pb = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
 
             while (0 < stack.Count)
             {
@@ -2945,7 +2949,7 @@ namespace DotRecast.Detour
                     int npa = neighbourPoly.vertCount;
                     for (int k = 0; k < npa; ++k)
                     {
-                        RcArrays.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa, k * 3, 3);
+                        RcArrays.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa.AsArray(), k * 3, 3);
                     }
 
                     bool overlap = false;
@@ -2976,10 +2980,10 @@ namespace DotRecast.Detour
                         int npb = pastPoly.vertCount;
                         for (int k = 0; k < npb; ++k)
                         {
-                            RcArrays.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
+                            RcArrays.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb.AsArray(), k * 3, 3);
                         }
 
-                        if (DtUtils.OverlapPolyPoly2D(pa, npa, pb, npb))
+                        if (DtUtils.OverlapPolyPoly2D(pa.AsArray(), npa, pb.AsArray(), npb))
                         {
                             overlap = true;
                             break;

src/DotRecast.Detour/DtUtils.cs

@@ -64,7 +64,7 @@ namespace DotRecast.Detour
         /// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
         /// @return True if the two AABB's overlap.
         /// @see dtOverlapBounds
-        public static bool OverlapQuantBounds(int[] amin, int[] amax, int[] bmin, int[] bmax)
+        public static bool OverlapQuantBounds(Span<int> amin, Span<int> amax, Span<int> bmin, Span<int> bmax)
         {
             bool overlap = true;
             overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;

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

@@ -26,7 +26,7 @@
     <PackageReference Include="Serilog.Sinks.Async" Version="1.5.0"/>
     <PackageReference Include="Serilog.Sinks.Console" Version="5.0.1" />
     <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
-    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6"/>
+    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     <PackageReference Include="Silk.NET" Version="2.20.0" />
     <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.20.0" />
   </ItemGroup>

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

@@ -123,80 +123,80 @@ public class NavMeshRenderer
 
         foreach (RcBuilderResult rcBuilderResult in rcBuilderResults)
         {
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT)
             {
-                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
             {
-                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS)
+            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.GetSolidHeightfield());
+                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.SolidHeightfiled);
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
+            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.GetSolidHeightfield());
+                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.SolidHeightfiled);
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 1f);
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 1f);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 0.5f);
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 0.5f);
-                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
+                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
+                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
                 _debugDraw.DepthMask(false);
-                if (rcBuilderResult.GetContourSet() != null)
+                if (rcBuilderResult.ContourSet != null)
                 {
-                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.GetContourSet());
+                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.ContourSet);
                 }
 
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
+            if (rcBuilderResult.Mesh != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.GetMesh());
+                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.Mesh);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
+            if (rcBuilderResult.MeshDetail != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.GetMeshDetail());
+                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.MeshDetail);
                 _debugDraw.DepthMask(true);
             }
         }

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -537,6 +537,7 @@ public class RecastDemo : IRecastDemoChannel
             bool hasBound = false;
             RcVec3f bminN = RcVec3f.Zero;
             RcVec3f bmaxN = RcVec3f.Zero;
+
             if (_sample.GetInputGeom() != null)
             {
                 bminN = _sample.GetInputGeom().GetMeshBoundsMin();
@@ -552,7 +553,7 @@ public class RecastDemo : IRecastDemoChannel
             {
                 foreach (RcBuilderResult result in _sample.GetRecastResults())
                 {
-                    if (result.GetSolidHeightfield() != null)
+                    if (result.CompactHeightfield != null)
                     {
                         if (!hasBound)
                         {
@@ -561,15 +562,15 @@ public class RecastDemo : IRecastDemoChannel
                         }
 
                         bminN = new RcVec3f(
-                            Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X),
+                            Math.Min(bminN.X, result.CompactHeightfield.bmin.X),
-                            Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y),
+                            Math.Min(bminN.Y, result.CompactHeightfield.bmin.Y),
-                            Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z)
+                            Math.Min(bminN.Z, result.CompactHeightfield.bmin.Z)
                         );
 
                         bmaxN = new RcVec3f(
-                            Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X),
+                            Math.Max(bmaxN.X, result.CompactHeightfield.bmax.X),
-                            Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y),
+                            Math.Max(bmaxN.Y, result.CompactHeightfield.bmax.Y),
-                            Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z)
+                            Math.Max(bmaxN.Z, result.CompactHeightfield.bmax.Z)
                         );
 
                         hasBound = true;
@@ -577,12 +578,15 @@ public class RecastDemo : IRecastDemoChannel
                 }
             }
 
+            // Reset camera and fog to match the mesh bounds.
             if (hasBound)
             {
                 RcVec3f bmin = bminN;
                 RcVec3f bmax = bmaxN;
 
-                camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) + RcMath.Sqr(bmax.Y - bmin.Y) + RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
+                camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) +
+                                         RcMath.Sqr(bmax.Y - bmin.Y) +
+                                         RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
                 cameraPos.X = (bmax.X + bmin.X) / 2 + camr;
                 cameraPos.Y = (bmax.Y + bmin.Y) / 2 + camr;
                 cameraPos.Z = (bmax.Z + bmin.Z) / 2 + camr;
@@ -688,14 +692,15 @@ public class RecastDemo : IRecastDemoChannel
 
         NavMeshBuildResult buildResult;
 
+        var geom = _sample.GetInputGeom();
         var settings = _sample.GetSettings();
         if (settings.tiled)
         {
-            buildResult = tileNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
+            buildResult = tileNavMeshBuilder.Build(geom, settings);
         }
         else
         {
-            buildResult = soloNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
+            buildResult = soloNavMeshBuilder.Build(geom, settings);
         }
 
         if (!buildResult.Success)
@@ -713,7 +718,7 @@ public class RecastDemo : IRecastDemoChannel
         Logger.Information($"build times");
         Logger.Information($"-----------------------------------------");
         var telemetries = buildResult.RecastBuilderResults
-            .Select(x => x.GetTelemetry())
+            .Select(x => x.Context)
             .SelectMany(x => x.ToList())
             .GroupBy(x => x.Key)
             .ToImmutableSortedDictionary(x => x.Key, x => x.Sum(y => y.Millis));

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

@@ -91,7 +91,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         var bridgeGeom = DemoInputGeomProvider.LoadFile("bridge.obj");
         var houseGeom = DemoInputGeomProvider.LoadFile("house.obj");
         var convexGeom = DemoInputGeomProvider.LoadFile("convex.obj");
-        _tool = new(Random.Shared, bridgeGeom, houseGeom, convexGeom);
+        _tool = new(new RcRand(Random.Shared), bridgeGeom, houseGeom, convexGeom);
         executor = Task.Factory;
     }
 
@@ -406,7 +406,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            bool updated = _tool.UpdateDynaMesh(executor);
+            bool updated = _tool.Update(executor);
             if (updated)
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
@@ -450,7 +450,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            var _ = dynaMesh.Build(executor).Result;
+            var _ = dynaMesh.Build(executor);
         }
         catch (Exception e)
         {

src/DotRecast.Recast.Demo/Tools/JumpLinkBuilderSampleTool.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.Linq;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Extras.Jumplink;
 using DotRecast.Recast.Demo.Draw;
@@ -96,13 +97,25 @@ public class JumpLinkBuilderSampleTool : ISampleTool
 
         if (build || _cfg.buildOffMeshConnections)
         {
-            if (0 < _sample.GetRecastResults().Count)
+            do
             {
+                if (0 >= _sample.GetRecastResults().Count)
+                {
+                    Logger.Error("build navmesh");
+                    break;
+                }
+
+                if (_sample.GetRecastResults().Any(x => null == x.SolidHeightfiled))
+                {
+                    Logger.Error("Tick 'Keep Itermediate Results' option");
+                    break;
+                }
+
                 var geom = _sample.GetInputGeom();
                 var settings = _sample.GetSettings();
 
                 _tool.Build(geom, settings, _sample.GetRecastResults(), _cfg);
-            }
+            } while (false);
         }
 
         ImGui.NewLine();

src/DotRecast.Recast.Demo/UI/RcSettingsView.cs

@@ -166,6 +166,10 @@ public class RcSettingsView : IRcView
         ImGui.SliderFloat("Max Sample Error", ref settings.detailSampleMaxError, 0f, 16f, "%.1f");
         ImGui.NewLine();
 
+        ImGui.Checkbox("Keep Itermediate Results", ref settings.keepInterResults);
+        ImGui.Checkbox("Build All Tiles", ref settings.buildAll);
+        ImGui.NewLine();
+
         ImGui.Text("Tiling");
         ImGui.Separator();
         ImGui.Checkbox("Enable", ref settings.tiled);
@@ -228,6 +232,12 @@ public class RcSettingsView : IRcView
         DrawMode.Values.ForEach(dm => { ImGui.RadioButton(dm.Text, ref drawMode, dm.Idx); });
         ImGui.NewLine();
 
+        ImGui.Separator();
+        ImGui.Text("Tick 'Keep Itermediate Results'");
+        ImGui.Text("rebuild some tiles to see");
+        ImGui.Text("more debug mode options.");
+        ImGui.NewLine();
+
         ImGui.End();
     }
 

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

@@ -10,8 +10,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float cellHeight, float agentHeight, float agentRadius, float agentMaxClimb,
             RcBuilderResult rcResult)
         {
-            RcPolyMesh pmesh = rcResult.GetMesh();
+            RcPolyMesh pmesh = rcResult.Mesh;
-            RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
+            RcPolyMeshDetail dmesh = rcResult.MeshDetail;
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             for (int i = 0; i < pmesh.npolys; ++i)
             {

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

@@ -34,7 +34,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 settings.edgeMaxLen, settings.edgeMaxError,
                 settings.vertsPerPoly,
                 settings.detailSampleDist, settings.detailSampleMaxError,
-                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans);
+                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans,
+                settings.keepInterResults);
         }
 
         public NavMeshBuildResult Build(DemoInputGeomProvider geom,
@@ -45,7 +46,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults)
         {
             RcConfig cfg = new RcConfig(
                 partitionType,
@@ -58,7 +60,7 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
 
-            RcBuilderResult rcResult = BuildRecastResult(geom, cfg);
+            RcBuilderResult rcResult = BuildRecastResult(geom, cfg, keepInterResults);
             var meshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, rcResult);
             if (null == meshData)
             {
@@ -74,11 +76,26 @@ namespace DotRecast.Recast.Toolset.Builder
             return new DtNavMesh(meshData, vertsPerPoly, 0);
         }
 
-        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg)
+        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg, bool keepInterResults)
         {
             RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.Build(geom, bcfg);
+            var result = rcBuilder.Build(geom, bcfg);
+            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.Toolset/Builder/TileNavMeshBuilder.cs

@@ -41,7 +41,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 settings.minRegionSize, settings.mergedRegionSize,
                 settings.edgeMaxLen, settings.edgeMaxError,
                 settings.vertsPerPoly, settings.detailSampleDist, settings.detailSampleMaxError,
-                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans);
+                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans,
+                settings.keepInterResults, settings.buildAll);
         }
 
         public NavMeshBuildResult Build(IInputGeomProvider geom,
@@ -53,7 +54,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults, bool buildAll)
         {
             List<RcBuilderResult> results = BuildRecastResult(
                 geom,
@@ -65,7 +67,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 edgeMaxLen, edgeMaxError,
                 vertsPerPoly,
                 detailSampleDist, detailSampleMaxError,
-                filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans
+                filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
+                keepInterResults, buildAll
             );
 
             var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, results);
@@ -82,7 +85,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults, bool buildAll)
 
         {
             RcConfig cfg = new RcConfig(true, tileSize, tileSize,
@@ -97,7 +101,7 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.BuildTiles(geom, cfg, Task.Factory);
+            return rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
@@ -123,10 +127,9 @@ namespace DotRecast.Recast.Toolset.Builder
             List<DtMeshData> meshData = new List<DtMeshData>();
             foreach (RcBuilderResult result in results)
             {
-                int x = result.tileX;
+                int x = result.TileX;
-                int z = result.tileZ;
+                int z = result.TileZ;
-                DtNavMeshCreateParams option = DemoNavMeshBuilder
+                DtNavMeshCreateParams option = DemoNavMeshBuilder.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
-                    .GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
 
                 option.tileX = x;
                 option.tileZ = z;

src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs

@@ -34,5 +34,8 @@ namespace DotRecast.Recast.Toolset
 
         public bool tiled = false;
         public int tileSize = 32;
+        
+        public bool keepInterResults = false;
+        public bool buildAll = true;
     }
 }

src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs

@@ -18,12 +18,12 @@ namespace DotRecast.Recast.Toolset.Tools
         private DtDynamicNavMesh dynaMesh;
         private readonly Dictionary<long, RcGizmo> colliderGizmos;
 
-        private readonly Random random;
+        private readonly IRcRand random;
         private readonly DemoInputGeomProvider bridgeGeom;
         private readonly DemoInputGeomProvider houseGeom;
         private readonly DemoInputGeomProvider convexGeom;
 
-        public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
+        public RcDynamicUpdateTool(IRcRand rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
         {
             this.colliderGizmos = new Dictionary<long, RcGizmo>();
             this.random = rand;
@@ -339,20 +339,14 @@ namespace DotRecast.Recast.Toolset.Tools
             return resultvector;
         }
 
-        public bool UpdateDynaMesh(TaskFactory executor)
+        public bool Update(TaskFactory executor)
         {
             if (dynaMesh == null)
             {
                 return false;
             }
 
-            bool updated = dynaMesh.Update(executor).Result;
+            return dynaMesh.Update(executor);
-            if (updated)
-            {
-                return false;
-            }
-
-            return true;
         }
 
         public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos)

src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs

@@ -94,7 +94,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
             var beginTick = RcFrequency.Ticks;
             var rb = new RcBuilder();
-            var result = rb.BuildTile(geom, cfg, bmin, bmax, tx, ty, new RcAtomicInteger(0), 1);
+            var result = rb.BuildTile(geom, cfg, bmin, bmax, tx, ty, new RcAtomicInteger(0), 1, settings.keepInterResults);
 
             var tb = new TileNavMeshBuilder();
             var meshData = tb.BuildMeshData(geom, settings.cellSize, settings.cellHeight, settings.agentHeight, settings.agentRadius, settings.agentMaxClimb, RcImmutableArray.Create(result)

src/DotRecast.Recast/RcBuilder.cs

@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
+using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using DotRecast.Core;
@@ -45,129 +47,123 @@ namespace DotRecast.Recast
             _progressListener = progressListener;
         }
 
-        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, TaskFactory taskFactory)
+        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, bool keepInterResults, bool buildAll,
+            int threads = 0, TaskFactory taskFactory = null, CancellationToken cancellation = default)
         {
             RcVec3f bmin = geom.GetMeshBoundsMin();
             RcVec3f bmax = geom.GetMeshBoundsMax();
             CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
-            List<RcBuilderResult> results = new List<RcBuilderResult>();
+
-            if (null != taskFactory)
+            if (1 < threads)
             {
-                BuildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default);
+                return BuildMultiThread(geom, cfg, bmin, bmax, tw, th, threads, taskFactory ?? Task.Factory, cancellation, keepInterResults, buildAll);
             }
-            else
+
+            return BuildSingleThread(geom, cfg, bmin, bmax, tw, th, keepInterResults, buildAll);
+        }
+
+        private List<RcBuilderResult> BuildSingleThread(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tw, int th,
+            bool keepInterResults, bool buildAll)
         {
-                BuildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
+            var results = new List<RcBuilderResult>(th * tw);
+            RcAtomicInteger counter = new RcAtomicInteger(0);
+
+            for (int y = 0; y < th; ++y)
+            {
+                for (int x = 0; x < tw; ++x)
+                {
+                    var result = BuildTile(geom, cfg, bmin, bmax, x, y, counter, tw * th, keepInterResults);
+                    results.Add(result);
+                }
             }
 
             return results;
         }
 
+        private List<RcBuilderResult> BuildMultiThread(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tw, int th,
+            int threads, TaskFactory taskFactory, CancellationToken cancellation,
+            bool keepInterResults, bool buildAll)
+        {
+            var results = new ConcurrentQueue<RcBuilderResult>();
+            RcAtomicInteger progress = new RcAtomicInteger(0);
 
-        public Task BuildTilesAsync(IInputGeomProvider geom, RcConfig cfg, int threads, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
+            List<Task> limits = new List<Task>(threads);
-        {
-            RcVec3f bmin = geom.GetMeshBoundsMin();
-            RcVec3f bmax = geom.GetMeshBoundsMax();
-            CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
-            Task task;
-            if (1 < threads)
-            {
-                task = BuildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, cancellationToken);
-            }
-            else
-            {
-                task = BuildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
-            }
-
-            return task;
-        }
-
-        private Task BuildSingleThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax,
-            int tw, int th, List<RcBuilderResult> results)
-        {
-            RcAtomicInteger counter = new RcAtomicInteger(0);
-            for (int y = 0; y < th; ++y)
-            {
-                for (int x = 0; x < tw; ++x)
-                {
-                    results.Add(BuildTile(geom, cfg, bmin, bmax, x, y, counter, tw * th));
-                }
-            }
-
-            return Task.CompletedTask;
-        }
-
-        private Task BuildMultiThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax,
-            int tw, int th, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
-        {
-            RcAtomicInteger counter = new RcAtomicInteger(0);
-            CountdownEvent latch = new CountdownEvent(tw * th);
-            List<Task> tasks = new List<Task>();
-
             for (int x = 0; x < tw; ++x)
             {
                 for (int y = 0; y < th; ++y)
                 {
                     int tx = x;
                     int ty = y;
-                    var task = taskFactory.StartNew(() =>
+                    var task = taskFactory.StartNew(state =>
                     {
-                        if (cancellationToken.IsCancellationRequested)
+                        if (cancellation.IsCancellationRequested)
                             return;
 
                         try
                         {
-                            RcBuilderResult tile = BuildTile(geom, cfg, bmin, bmax, tx, ty, counter, tw * th);
+                            RcBuilderResult result = BuildTile(geom, cfg, bmin, bmax, tx, ty, progress, tw * th, keepInterResults);
-                            lock (results)
+                            results.Enqueue(result);
-                            {
-                                results.Add(tile);
-                            }
                         }
                         catch (Exception e)
                         {
                             Console.WriteLine(e);
                         }
+                    }, null, cancellation);
 
-
+                    limits.Add(task);
-                        latch.Signal();
+                    if (threads <= limits.Count)
-                    }, cancellationToken);
-
-                    tasks.Add(task);
-                }
-            }
-
-            try
                     {
-                latch.Wait();
+                        Task.WaitAll(limits.ToArray());
+                        limits.Clear();
+                    }
                 }
-            catch (ThreadInterruptedException)
-            {
             }
 
-            return Task.WhenAll(tasks.ToArray());
+            if (0 < limits.Count)
+            {
+                Task.WaitAll(limits.ToArray());
+                limits.Clear();
             }
 
-        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx,
+            var list = results.ToList();
-            int ty, RcAtomicInteger counter, int total)
+            return list;
+        }
+
+        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx, int ty, RcAtomicInteger progress, int total, bool keepInterResults)
         {
-            RcBuilderResult result = Build(geom, new RcBuilderConfig(cfg, bmin, bmax, tx, ty));
+            var bcfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty);
+            RcBuilderResult result = Build(geom, bcfg);
             if (_progressListener != null)
             {
-                _progressListener.OnProgress(counter.IncrementAndGet(), total);
+                _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 builderCfg)
+        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg)
         {
-            RcConfig cfg = builderCfg.cfg;
+            RcConfig cfg = bcfg.cfg;
             RcContext ctx = new RcContext();
             //
             // Step 1. Rasterize input polygon soup.
             //
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, bcfg);
-            return Build(ctx, builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid);
+            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid);
         }
 
         public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)

src/DotRecast.Recast/RcBuilderResult.cs

@@ -4,56 +4,26 @@ namespace DotRecast.Recast
 {
     public class RcBuilderResult
     {
-        public readonly int tileX;
+        public readonly int TileX;
-        public readonly int tileZ;
+        public readonly int TileZ;
 
-        private readonly RcCompactHeightfield chf;
+        public readonly RcHeightfield SolidHeightfiled;
-        private readonly RcContourSet cs;
+        public readonly RcCompactHeightfield CompactHeightfield;
-        private readonly RcPolyMesh pmesh;
+        public readonly RcContourSet ContourSet;
-        private readonly RcPolyMeshDetail dmesh;
+        public readonly RcPolyMesh Mesh;
-        private readonly RcHeightfield solid;
+        public readonly RcPolyMeshDetail MeshDetail;
-        private readonly RcContext _context;
+        public readonly RcContext Context;
 
-        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solid, RcCompactHeightfield chf, RcContourSet cs, RcPolyMesh pmesh, RcPolyMeshDetail dmesh, RcContext ctx)
+        public RcBuilderResult(int tileX, int tileZ, RcHeightfield solidHeightfiled, RcCompactHeightfield compactHeightfield, RcContourSet contourSet, RcPolyMesh mesh, RcPolyMeshDetail meshDetail, RcContext ctx)
         {
-            this.tileX = tileX;
+            TileX = tileX;
-            this.tileZ = tileZ;
+            TileZ = tileZ;
-            this.solid = solid;
+            SolidHeightfiled = solidHeightfiled;
-            this.chf = chf;
+            CompactHeightfield = compactHeightfield;
-            this.cs = cs;
+            ContourSet = contourSet;
-            this.pmesh = pmesh;
+            Mesh = mesh;
-            this.dmesh = dmesh;
+            MeshDetail = meshDetail;
-            _context = ctx;
+            Context = ctx;
-        }
-
-        public RcPolyMesh GetMesh()
-        {
-            return pmesh;
-        }
-
-        public RcPolyMeshDetail GetMeshDetail()
-        {
-            return dmesh;
-        }
-
-        public RcCompactHeightfield GetCompactHeightfield()
-        {
-            return chf;
-        }
-
-        public RcContourSet GetContourSet()
-        {
-            return cs;
-        }
-
-        public RcHeightfield GetSolidHeightfield()
-        {
-            return solid;
-        }
-
-        public RcContext GetTelemetry()
-        {
-            return _context;
         }
     }
 }

src/DotRecast.Recast/RcHeightfield.cs

@@ -22,29 +22,21 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    /** Represents a heightfield layer within a layer set. */
+    /// A dynamic heightfield representing obstructed space.
+    /// @ingroup recast
     public class RcHeightfield
     {
-        /** The width of the heightfield. (Along the x-axis in cell units.) */
+        public readonly int width; //< The width of the heightfield. (Along the x-axis in cell units.)
-        public readonly int width;
+        public readonly int height; //< The height of the heightfield. (Along the z-axis in cell units.)
+        public readonly RcVec3f bmin; //< The minimum bounds in world space. [(x, y, z)]
+        public RcVec3f bmax; //< The maximum bounds in world space. [(x, y, z)]
+        public readonly float cs; //< The size of each cell. (On the xz-plane.)
+        public readonly float ch; //< The height of each cell. (The minimum increment along the y-axis.)
+        public readonly RcSpan[] spans; //< Heightfield of spans (width*height).
 
-        /** The height of the heightfield. (Along the z-axis in cell units.) */
+        // memory pool for rcSpan instances.
-        public readonly int height;
+        public RcSpanPool pools; //< Linked list of span pools.
-
+        public RcSpan freelist; //< The next free span.
-        /** The minimum bounds in world space. [(x, y, z)] */
-        public readonly RcVec3f bmin;
-
-        /** The maximum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmax;
-
-        /** The size of each cell. (On the xz-plane.) */
-        public readonly float cs;
-
-        /** The height of each cell. (The minimum increment along the y-axis.) */
-        public readonly float ch;
-
-        /** Heightfield of spans (width*height). */
-        public readonly RcSpan[] spans;
 
         /** Border size in cell units */
         public readonly int borderSize;

src/DotRecast.Recast/RcPolyMeshRaycast.cs

@@ -30,9 +30,9 @@ namespace DotRecast.Recast
             hitTime = 0.0f;
             foreach (RcBuilderResult result in results)
             {
-                if (result.GetMeshDetail() != null)
+                if (result.MeshDetail != null)
                 {
-                    if (Raycast(result.GetMesh(), result.GetMeshDetail(), src, dst, out hitTime))
+                    if (Raycast(result.Mesh, result.MeshDetail, src, dst, out hitTime))
                     {
                         return true;
                     }

src/DotRecast.Recast/RcRasterizations.cs

@@ -42,6 +42,63 @@ namespace DotRecast.Recast
                 aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
         }
         
+        /// Allocates a new span in the heightfield.
+        /// Use a memory pool and free list to minimize actual allocations.
+        /// 
+        /// @param[in]	heightfield		The heightfield
+        /// @returns A pointer to the allocated or re-used span memory. 
+        private static RcSpan AllocSpan(RcHeightfield heightfield)
+        {
+            // If necessary, allocate new page and update the freelist.
+            if (heightfield.freelist == null || heightfield.freelist.next == null)
+            {
+                // Create new page.
+                // Allocate memory for the new pool.
+                RcSpanPool spanPool = new RcSpanPool();
+                if (spanPool == null)
+                {
+                    return null;
+                }
+
+                // Add the pool into the list of pools.
+                spanPool.next = heightfield.pools;
+                heightfield.pools = spanPool;
+
+                // Add new spans to the free list.
+                RcSpan freeList = heightfield.freelist;
+                int head = 0;
+                int it = RC_SPANS_PER_POOL;
+                do
+                {
+                    --it;
+                    spanPool.items[it].next = freeList;
+                    freeList = spanPool.items[it];
+                } while (it != head);
+
+                heightfield.freelist = spanPool.items[it];
+            }
+
+            // Pop item from the front of the free list.
+            RcSpan newSpan = heightfield.freelist;
+            heightfield.freelist = heightfield.freelist.next;
+            return newSpan;
+        }
+
+        /// Releases the memory used by the span back to the heightfield, so it can be re-used for new spans.
+        /// @param[in]	heightfield		The heightfield.
+        /// @param[in]	span	A pointer to the span to free
+        private static void FreeSpan(RcHeightfield heightfield, RcSpan span)
+        {
+            if (span == null)
+            {
+                return;
+            }
+
+            // Add the span to the front of the free list.
+            span.next = heightfield.freelist;
+            heightfield.freelist = span;
+        }
+
 
         /// Adds a span to the heightfield.  If the new span overlaps existing spans,
         /// it will merge the new span with the existing ones.
@@ -156,7 +213,7 @@ namespace DotRecast.Recast
             float axisOffset, int axis)
         {
             // How far positive or negative away from the separating axis is each vertex.
-            float[] inVertAxisDelta = new float[12];
+            Span<float> inVertAxisDelta = stackalloc float[12];
             for (int inVert = 0; inVert < inVertsCount; ++inVert)
             {
                 inVertAxisDelta[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];

src/DotRecast.Recast/RcSpanPool.cs

@@ -0,0 +1,38 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+namespace DotRecast.Recast
+{
+    /// A memory pool used for quick allocation of spans within a heightfield.
+    /// @see rcHeightfield
+    public class RcSpanPool
+    {
+        public RcSpanPool next; //< The next span pool.
+        public readonly RcSpan[] items; //< Array of spans in the pool.
+
+        public RcSpanPool()
+        {
+            items = new RcSpan[RcConstants.RC_SPANS_PER_POOL];
+            for (int i = 0; i < items.Length; ++i)
+            {
+                items[i] = new RcSpan();
+            }
+        }
+    }
+}

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

@@ -9,13 +9,13 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Core.Test/RcRentedArrayTest.cs

@@ -1,6 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Xml;
 using DotRecast.Core.Buffers;
+using Microsoft.VisualStudio.TestPlatform.CommunicationUtilities.Serialization;
 using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
@@ -56,4 +59,50 @@ public class RcRentedArrayTest
             Assert.Throws<NullReferenceException>(() => rentedArray[^1] = 0);
         }
     }
+
+    [Test]
+    public void TestSame()
+    {
+        // not same
+        {
+            using var r1 = RcRentedArray.Rent<float>(1024);
+            using var r2 = RcRentedArray.Rent<float>(1024);
+
+            Assert.That(r2.AsArray() != r1.AsArray(), Is.EqualTo(true));
+        }
+
+        // same
+        {
+            // error case 
+            float[] r1Array;
+            using (var r1 = RcRentedArray.Rent<float>(1024))
+            {
+                r1Array = r1.AsArray();
+                for (int i = 0; i < r1.Length; ++i)
+                {
+                    r1[i] = 123;
+                }
+            }
+
+            using var r2 = RcRentedArray.Rent<float>(1024);
+
+            Assert.That(r2.AsArray() == r1Array, Is.EqualTo(true));
+            Assert.That(r2.AsArray().Sum(), Is.EqualTo(0));
+        }
+    }
+
+    [Test]
+    public void TestDispose()
+    {
+        var r1 = RcRentedArray.Rent<float>(1024);
+        for (int i = 0; i < r1.Length; ++i)
+        {
+            r1[i] = 123;
+        }
+
+        Assert.That(r1.IsDisposed, Is.EqualTo(false));
+        r1.Dispose();
+        Assert.That(r1.IsDisposed, Is.EqualTo(true));
+        Assert.That(r1.AsArray(), Is.Null);
+    }
 }

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

@@ -9,13 +9,13 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -73,13 +73,13 @@ public class RecastTestMeshBuilder
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
         RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
+        RcPolyMesh m_pmesh = rcResult.Mesh;
         for (int i = 0; i < m_pmesh.npolys; ++i)
         {
             m_pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
         option.verts = m_pmesh.verts;
         option.vertCount = m_pmesh.nverts;

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

@@ -9,17 +9,17 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     </ItemGroup>
 
     <ItemGroup>

test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs

@@ -10,7 +10,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-
 public class DynamicNavMeshTest
 {
     private static readonly RcVec3f START_POS = new RcVec3f(70.87453f, 0.0010070801f, 86.69021f);
@@ -32,9 +31,7 @@ public class DynamicNavMeshTest
         // create dynamic navmesh
         DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
+        mesh.Build(Task.Factory);
-        // wait for build to complete
-        bool _ = future.Result;
 
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
@@ -54,9 +51,8 @@ public class DynamicNavMeshTest
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
+        mesh.Update(Task.Factory);
-        // wait for update to complete
+
-        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -70,9 +66,7 @@ public class DynamicNavMeshTest
         // remove obstacle
         mesh.RemoveCollider(colliderId);
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
+        mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 

test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs

@@ -31,7 +31,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;
@@ -101,12 +100,12 @@ public class VoxelQueryTest
         // load voxels from file
         DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
         DtVoxelFile f = reader.Read(br);
+        
         // create dynamic navmesh
         var mesh = new DtDynamicNavMesh(f);
+        
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
+        mesh.Build(Task.Factory);
-        // wait for build to complete
-        var _ = future.Result;
         return mesh;
     }
 }

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

@@ -9,13 +9,13 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -9,13 +9,13 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs

@@ -73,13 +73,13 @@ public class RecastTestMeshBuilder
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
         RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
+        RcPolyMesh m_pmesh = rcResult.Mesh;
         for (int i = 0; i < m_pmesh.npolys; ++i)
         {
             m_pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
         option.verts = m_pmesh.verts;
         option.vertCount = m_pmesh.nverts;

test/DotRecast.Detour.Test/TestDetourBuilder.cs

@@ -28,7 +28,7 @@ public class TestDetourBuilder : DetourBuilder
     {
         RcBuilder rcBuilder = new RcBuilder();
         RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig);
-        RcPolyMesh pmesh = rcResult.GetMesh();
+        RcPolyMesh pmesh = rcResult.Mesh;
 
         if (applyRecastDemoFlags)
         {
@@ -58,7 +58,7 @@ public class TestDetourBuilder : DetourBuilder
             }
         }
 
-        RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = GetNavMeshCreateParams(rcConfig.cfg, pmesh, dmesh, agentHeight, agentRadius,
             agentMaxClimb);
         return Build(option, x, y);

test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs

@@ -78,13 +78,13 @@ public class TestTiledNavMeshBuilder
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilder rcBuilder = new RcBuilder();
-        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, null);
+        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, false, true);
 
         // Add tiles to nav mesh
 
         foreach (RcBuilderResult result in rcResult)
         {
-            RcPolyMesh pmesh = result.GetMesh();
+            RcPolyMesh pmesh = result.Mesh;
             if (pmesh.npolys == 0)
             {
                 continue;
@@ -103,7 +103,7 @@ public class TestTiledNavMeshBuilder
             option.polyFlags = pmesh.flags;
             option.polyCount = pmesh.npolys;
             option.nvp = pmesh.nvp;
-            RcPolyMeshDetail dmesh = result.GetMeshDetail();
+            RcPolyMeshDetail dmesh = result.MeshDetail;
             option.detailMeshes = dmesh.meshes;
             option.detailVerts = dmesh.verts;
             option.detailVertsCount = dmesh.nverts;
@@ -116,8 +116,8 @@ public class TestTiledNavMeshBuilder
             option.bmax = pmesh.bmax;
             option.cs = cellSize;
             option.ch = cellHeight;
-            option.tileX = result.tileX;
+            option.tileX = result.TileX;
-            option.tileZ = result.tileZ;
+            option.tileZ = result.TileZ;
             option.buildBvTree = true;
             navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0);
         }

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

@@ -9,17 +9,17 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     </ItemGroup>
 
     <ItemGroup>

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

@@ -9,13 +9,13 @@
     <ItemGroup>
         <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
         <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.0.1" />
+        <PackageReference Include="NUnit" Version="4.1.0" />
         <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="NUnit.Analyzers" Version="4.1.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.1">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -27,7 +27,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-
 public class RecastTileMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -71,28 +70,28 @@ public class RecastTileMeshTest
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 7, 8);
         RcBuilderResult rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 6, 9);
         rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 9);
         rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 4, 3);
         rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 8);
         rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 0, 8);
         rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
     }
 
     [Test]
@@ -138,28 +137,27 @@ public class RecastTileMeshTest
     private void Build(IInputGeomProvider geom, RcBuilder builder, RcConfig cfg, int threads, bool validate)
     {
         CancellationTokenSource cts = new CancellationTokenSource();
-        List<RcBuilderResult> tiles = new();
+        List<RcBuilderResult> tiles = builder.BuildTiles(geom, cfg, false, true, threads, Task.Factory, cts.Token);
-        var task = builder.BuildTilesAsync(geom, cfg, threads, tiles, Task.Factory, cts.Token);
         if (validate)
         {
             RcBuilderResult rcResult = GetTile(tiles, 7, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
             rcResult = GetTile(tiles, 6, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
             rcResult = GetTile(tiles, 2, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
             rcResult = GetTile(tiles, 4, 3);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
             rcResult = GetTile(tiles, 2, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
             rcResult = GetTile(tiles, 0, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
         }
 
         try
@@ -175,6 +173,6 @@ public class RecastTileMeshTest
 
     private RcBuilderResult GetTile(List<RcBuilderResult> tiles, int x, int z)
     {
-        return tiles.FirstOrDefault(tile => tile.tileX == x && tile.tileZ == z);
+        return tiles.FirstOrDefault(tile => tile.TileX == x && tile.TileZ == z);
     }
 }